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#pragma once
#include <initializer_list>
template<typename num, int h, int w>
struct Mat
{
num data[h][w];
template<int p>
Mat<num, w, p> operator*(const Mat<num, w, p>& other) const
{
Mat<num, w, p> ret;
for (int j = 0; j < w; j++)
for (int i = 0; i < p; i++)
{
num sum = num(0);
for (int k = 0; k < h; k++)
sum += data[j][k]*other.data[k][i];
ret.data[j][i] = sum;
}
return ret;
}
num operator()(int j, int i) const { return data[j][i]; }
num& operator()(int j, int i) { return data[j][i]; }
Mat(std::initializer_list<num>&& list)
{
auto iter = list.begin();
for (int i = 0; i < h; i++)
for (int j = 0; j < w; j++)
data[i][j] = *iter++;
}
Mat()
{
for (int j = 0; j < h; j++)
for (int i = 0; i < w; i++)
data[j][i] = 0;
}
Mat(const num* mem)
{
for (int j = 0; j < h; j++)
for (int i = 0; i < w; i++)
data[j][i] = mem[i*h+j];
}
// XXX add more operators as needed, third-party dependencies mostly
// not needed merely for matrix algebra -sh 20141030
static Mat<num, h, h> eye()
{
Mat<num, h, h> ret;
for (int j = 0; j < h; j++)
for (int i = 0; i < w; i++)
ret.data[j][i] = 0;
for (int i = 0; i < h; i++)
ret.data[i][i] = 1;
return ret;
}
Mat<num, w, h> t()
{
Mat<num, w, h> ret;
for (int j = 0; j < h; j++)
for (int i = 0; i < w; i++)
ret.data[i][j] = data[j][i];
return ret;
}
template<int h_, int w_> using dmat = Mat<double, h_, w_>;
// http://stackoverflow.com/a/18436193
static dmat<3, 1> rmat_to_euler(const dmat<3, 3>& R)
{
static constexpr double pi = 3.141592653;
const double up = 90 * pi / 180.;
static constexpr double bound = 1. - 2e-4;
if (R(0, 2) > bound)
{
double roll = atan(R(1, 0) / R(2, 0));
return dmat<3, 1>({0., up, roll});
}
if (R(0, 2) < -bound)
{
double roll = atan(R(1, 0) / R(2, 0));
return dmat<3, 1>({0., -up, roll});
}
double pitch = asin(-R(0, 2));
double roll = atan2(R(1, 2), R(2, 2));
double yaw = atan2(R(0, 1), R(0, 0));
return dmat<3, 1>({yaw, pitch, roll});
}
// tait-bryan angles, not euler
static dmat<3, 3> euler_to_rmat(const double* input)
{
static constexpr double pi = 3.141592653;
auto H = input[0] * pi / 180;
auto P = input[1] * pi / 180;
auto B = input[2] * pi / 180;
const auto c1 = cos(H);
const auto s1 = sin(H);
const auto c2 = cos(P);
const auto s2 = sin(P);
const auto c3 = cos(B);
const auto s3 = sin(B);
double foo[] = {
// z
c1 * c2,
c1 * s2 * s3 - c3 * s1,
s1 * s3 + c1 * c3 * s2,
// y
c2 * s1,
c1 * c3 + s1 * s2 * s3,
c3 * s1 * s2 - c1 * s3,
// x
-s2,
c2 * s3,
c2 * c3
};
return dmat<3, 3>(foo);
}
};
template<int h, int w> using dmat = Mat<double, h, w>;
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