tools:matrix:start
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tools:matrix:start [2017/03/17 12:46] – [Accessing Elements] graf | tools:matrix:start [2021/11/14 17:15] – [Matrix Operations] ursgraf | ||
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The blocks in the control system are connected among each other with the aid of signals. As described in [[eeros_architecture: | The blocks in the control system are connected among each other with the aid of signals. As described in [[eeros_architecture: | ||
<code cpp> | <code cpp> | ||
- | | + | Vector< |
- | v << 1.5, -2, 0; | + | |
</ | </ | ||
The declaration could be simplified to | The declaration could be simplified to | ||
<code cpp> | <code cpp> | ||
- | | + | Vector3<> |
- | v << 1.5, -2, 0; | + | |
</ | </ | ||
- | as '' | + | as '' |
<code cpp> | <code cpp> | ||
- | Matrix<3, 3, int> m; | + | v = {1.5, -2, 0} |
- | | + | v << 1.5, -2, 0; // or with input operator |
- | 2, 5, 8, | + | Vector3 v{1,2,3}; // or directly upon declaration |
- | 3, 6, 9; | + | |
</ | </ | ||
+ | A matrix of 3 times 3 with element type '' | ||
+ | <code cpp> | ||
+ | Matrix< | ||
+ | m << 1, 4, 7, | ||
+ | 2, 5, 8, | ||
+ | 3, 6, 9; | ||
+ | </ | ||
+ | The first three numbers will be filled into the first colon. 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| | ||
===== Accessing Elements ===== | ===== Accessing Elements ===== | ||
Line 33: | Line 43: | ||
m[3]; // returns element or sets element with index 3 | m[3]; // returns element or sets element with index 3 | ||
m(2, | m(2, | ||
+ | m[2, | ||
</ | </ | ||
+ | ===== Logging Matrices ===== | ||
+ | A matrix can be logged simply by writing | ||
+ | <code cpp> | ||
+ | log.info() << m; | ||
+ | </ | ||
+ | With the 3 x 3 matrix from above we would get | ||
+ | < | ||
+ | 2021-09-16 17: | ||
+ | </ | ||
+ | The matrix is plotted colon per colon. To give some more examples: | ||
+ | <code cpp> | ||
+ | Matrix< | ||
+ | Matrix< | ||
+ | Matrix< | ||
+ | </ | ||
+ | This matrices will be printed as | ||
+ | < | ||
+ | 2021-09-16 17: | ||
+ | 2021-09-16 17: | ||
+ | 2021-09-16 17: | ||
+ | </ | ||
+ | |||
+ | ===== Matrix Operations ===== | ||
+ | Some examples show basic matrix operations. | ||
+ | <code cpp> | ||
+ | Vector2 v1{1,2}; | ||
+ | Matrix< | ||
+ | log.info() << v1 * v2; // will print [ [3 6]' [4 8]' ] | ||
+ | log.info() << v2 * v1; // will print [11]' | ||
+ | |||
+ | Matrix< | ||
+ | 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]' | ||
+ | </ |
tools/matrix/start.txt · Last modified: 2022/04/20 13:29 by ursgraf