The blocks in the control system are connected among each other with the aid of signals. As described in Signals they carry a timestamp and a value. The value could be a simple type such as an integer or float. Quite often it will consist of a vector or a matrix. A three dimensional vector of type double
can be declared and initialized as follows:
Vector<3, double> v;
The declaration could be simplified to
Vector3<> v;
as Vector3
is a predefined type with three dimensions and the default element type is double
. A Vector3
is identical to the type Matrix<3,1,double>
. The vector could be initialized as follows
v = {1.5, -2, 0} v << 1.5, -2, 0; // or with input operator Vector3 v{1,2,3}; // or directly upon declaration
A matrix of 3 times 3 with element type int
could be defined as
Matrix<3, 3, int> m; m << 1, 2, 3, 4, 5, 6, 7, 8, 9;
The first three numbers will be filled into the first row. While the internal representation is simply a one dimensional vector, the matrix could be visualized as
col0 | col1 | col2 | |
---|---|---|---|
row0 | 1 | 2 | 3 |
row1 | 4 | 5 | 6 |
row2 | 7 | 8 | 9 |
When declaring and initializing a matrix, the values must be given colon per colon. The same matrix as given above would be initialized as follows
Matrix<3, 3, int> m{1, 4, 7, 2, 5, 8, 3, 6, 9};
You can access rows, columns or single elements of matrices with the following methods:
m.get(0,0); // returns element, 1 m.get(1,0); // returns element, 4 m.getRow(1); // returns row, [4,5,6] m.getCol(0); // returns column, [1,4,7]' m.getSubMatrix<2,2>(0,1); // returns matrix [[2,5][3,6]]
Single elements, rows or columns can be written with the methods set(), setRow(), or setCol().
The operators () and [] work as well as can be seen by the following example
m(3); // returns element or sets element with index 3 m[3]; // returns element or sets element with index 3 m(2,1); // returns element or sets element with index 7 m[2,1]; // does not work, as the [] operator cannot be defined for two parameters
A matrix can be logged simply by writing
log.info() << m;
With the 3 x 3 matrix from above we would get
2021-09-16 17:36:53:929 I: [ [1 4 7]' [2 5 8]' [3 6 9]' ]
The matrix is plotted colon per colon. To give some more examples:
Matrix<1,1> m1{1}; Matrix<2,1> m2{1,2}; Matrix<1,2> m3{1,2};
This matrices will be printed as
2021-09-16 17:37:18:122 I: [1]' 2021-09-16 17:37:18:122 I: [1 2]' // one colon with two rows 2021-09-16 17:37:18:122 I: [ [1]' [2]' ]' // one row with two colons
Some examples show basic matrix operations.
Vector2 v1{1,2}; Matrix<1,2> v2{3,4}; log.info() << v1 * v2; // will print [ [3 6]' [4 8]' ] log.info() << v2 * v1; // will print [11]' Matrix<2,2,double> m1{1,1.5,-1,2}; log.info() << v2 * m1; // will print [ [9]' [5]' ] log.info() << v1.transpose() * m1;// will print [ [4]' [3]' ] auto x = v2 * m1; Vector2 v4 = x.transpose(); log.info() << v4; // will print [9 5]'