fsfw/globalfunctions/math/MatrixOperations.h

#ifndef MATRIXOPERATIONS_H_
#define MATRIXOPERATIONS_H_

#include <cmath>
#include <stdint.h>

template<typename T1, typename T2=T1, typename T3=T2>
class MatrixOperations {
public:
	//do not use with result == matrix1 or matrix2
	static void multiply(const T1 *matrix1, const T2 *matrix2, T3 *result,
			uint8_t rows1, uint8_t columns1, uint8_t columns2) {
		if ((matrix1 == (T1*)result) || (matrix2 == (T2*)result)){
			//SHOULDDO find an implementation that is tolerant to this
			return;
		}
		for (uint8_t resultColumn = 0; resultColumn < columns2;
				resultColumn++) {
			for (uint8_t resultRow = 0; resultRow < rows1; resultRow++) {
				result[resultColumn + columns2 * resultRow] = 0;
				for (uint8_t i = 0; i < columns1; i++) {
					result[resultColumn + columns2 * resultRow] += matrix1[i
							+ resultRow * columns1]
							* matrix2[resultColumn + i * columns2];
				}
			}
		}
	}

	static void transpose(const T1 *matrix, T2 *transposed, uint8_t size) {
		uint8_t row, column;
		transposed[0] = matrix[0];
		for (column = 1; column < size; column++) {
			transposed[column + size * column] = matrix[column + size * column];
			for (row = 0; row < column; row++) {
				T1 temp = matrix[column + size * row];
				transposed[column + size * row] = matrix[row + size * column];
				transposed[row + size * column] = temp;
			}
		}
	}

	// Overload transpose to support non symmetrical matrices
	//do not use with transposed == matrix && columns != rows
	static void transpose(const T1 *matrix, T2 *transposed, uint8_t rows, uint8_t columns) {
		uint8_t row, column;
		transposed[0] = matrix[0];
		if (matrix == transposed && columns == rows)
		{
			transpose(matrix, transposed, rows);
		}
		else if (matrix == transposed && columns != rows)
		{
			// not permitted
			return;
		}
		for (column = 0; column < columns; column++) {
			for (row = 0; row < rows; row++) {
				transposed[row + column * rows] = matrix[column + row * columns];
			}
		}
	}

	static void add(const T1 *matrix1, const T2 *matrix2, T3 *result,
			uint8_t rows, uint8_t columns)
	{
		for (uint8_t resultColumn = 0; resultColumn < columns; resultColumn++)
		{
			for (uint8_t resultRow = 0; resultRow < rows; resultRow++)
			{
				result[resultColumn + columns * resultRow] = matrix1[resultColumn + columns * resultRow]+
						matrix2[resultColumn + columns * resultRow];
			}
		}
	}

	static void subtract(const T1 *matrix1, const T2 *matrix2, T3 *result,
			uint8_t rows, uint8_t columns)
	{
		for (uint8_t resultColumn = 0; resultColumn < columns; resultColumn++)
		{
			for (uint8_t resultRow = 0; resultRow < rows; resultRow++)
			{
				result[resultColumn + columns * resultRow] = matrix1[resultColumn + columns * resultRow]-
						matrix2[resultColumn + columns * resultRow];
			}
		}
	}

	static void addScalar(const T1 *matrix1, const T2 scalar, T3 *result,
			uint8_t rows, uint8_t columns)
	{
		for (uint8_t resultColumn = 0; resultColumn < columns; resultColumn++)
		{
			for (uint8_t resultRow = 0; resultRow < rows; resultRow++)
			{
				result[resultColumn + columns * resultRow] = matrix1[resultColumn + columns * resultRow]+scalar;
			}
		}
	}

	static void multiplyScalar(const T1 *matrix1, const T2 scalar, T3 *result,
			uint8_t rows, uint8_t columns)
	{
		for (uint8_t resultColumn = 0; resultColumn < columns; resultColumn++)
		{
			for (uint8_t resultRow = 0; resultRow < rows; resultRow++)
			{
				result[resultColumn + columns * resultRow] = matrix1[resultColumn + columns * resultRow]*scalar;
			}
		}
	}
};

#endif /* MATRIXOPERATIONS_H_ */