1/*
2 * Copyright (C) 2011 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 *      http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17///////////////////////////////////////////////////
18// Matrixutils.h
19// $Id: MatrixUtils.h,v 1.5 2011/05/16 15:33:06 mbansal Exp $
20
21
22#ifndef MATRIX_UTILS_H
23#define MATRIX_UTILS_H
24
25/* Simple class for 3x3 matrix, mainly used to convert from 9x1
26 * to 3x3
27 */
28class Matrix33 {
29public:
30
31  /**
32   *  Empty constructor
33   */
34  Matrix33() {
35    initialize();
36  }
37
38  /**
39   *  Constructor with identity initialization
40   *  Arguments:
41   *     identity: Specifies wether to initialize matrix to
42   *     identity or zeros
43   */
44  Matrix33(bool identity) {
45    initialize(identity);
46  }
47
48  /**
49   *  Initialize to identity matrix
50   */
51  void initialize(bool identity = false) {
52    mat[0][1] = mat[0][2] = mat[1][0] = mat[1][2] = mat[2][0] = mat[2][1] = 0.0;
53    if (identity) {
54      mat[0][0] = mat[1][1] = mat[2][2] = 1.0;
55    } else {
56      mat[0][0] = mat[1][1] = mat[2][2] = 0.0;
57    }
58  }
59
60  /**
61   *  Conver ta 9x1 matrix to a 3x3 matrix
62   */
63  static void convert9to33(double out[3][3], double in[9]) {
64    out[0][0] = in[0];
65    out[0][1] = in[1];
66    out[0][2] = in[2];
67
68    out[1][0] = in[3];
69    out[1][1] = in[4];
70    out[1][2] = in[5];
71
72    out[2][0] = in[6];
73    out[2][1] = in[7];
74    out[2][2] = in[8];
75
76  }
77
78  /* Matrix data */
79  double mat[3][3];
80
81};
82
83/* Simple class for 9x1 matrix, mainly used to convert from 3x3
84 * to 9x1
85 */
86class Matrix9 {
87public:
88
89  /**
90   *  Empty constructor
91   */
92  Matrix9() {
93    initialize();
94  }
95
96  /**
97   *  Constructor with identity initialization
98   *  Arguments:
99   *     identity: Specifies wether to initialize matrix to
100   *     identity or zeros
101   */
102  Matrix9(bool identity) {
103    initialize(identity);
104  }
105
106  /**
107   *  Initialize to identity matrix
108   */
109  void initialize(bool identity = false) {
110    mat[1] = mat[2] = mat[3] = mat[5] = mat[6] = mat[7] = 0.0;
111    if (identity) {
112      mat[0] = mat[4] = mat[8] = 1.0;
113    } else {
114      mat[0] = mat[4] = mat[8] = 0.0;
115    }
116  }
117
118  /**
119   *  Conver ta 3x3 matrix to a 9x1 matrix
120   */
121  static void convert33to9(double out[9], double in[3][3]) {
122    out[0] = in[0][0];
123    out[1] = in[0][1];
124    out[2] = in[0][2];
125
126    out[3] = in[1][0];
127    out[4] = in[1][1];
128    out[5] = in[1][2];
129
130    out[6] = in[2][0];
131    out[7] = in[2][1];
132    out[8] = in[2][2];
133
134  }
135
136  /* Matrix data */
137  double mat[9];
138
139};
140
141#endif
142