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Math: moved matrix multiple operations to .cpp file 

this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space

We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
This commit is contained in:
Andrew Tridgell 2012-03-21 10:43:48 +11:00
parent ece2aac4b9
commit fb9790e1f4
2 changed files with 32 additions and 19 deletions
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29
libraries/AP_Math/matrix3.cpp
View File

@ -153,8 +153,37 @@ void Matrix3<T>::rotate(const Vector3<T> &g)
(*this) += temp_matrix;
}
// multiplication by a vector
template <typename T>
Vector3<T> Matrix3<T>::operator *(const Vector3<T> &v) const
{
return Vector3<T>(a.x * v.x + a.y * v.y + a.z * v.z,
b.x * v.x + b.y * v.y + b.z * v.z,
c.x * v.x + c.y * v.y + c.z * v.z);
}
// multiplication by another Matrix3<T>
template <typename T>
Matrix3<T> Matrix3<T>::operator *(const Matrix3<T> &m) const
{
Matrix3<T> temp (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
return temp;
}
// only define for float
template void Matrix3<float>::rotation(enum Rotation);
template void Matrix3<float>::rotate(const Vector3<float> &g);
template void Matrix3<float>::from_euler(float roll, float pitch, float yaw);
template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw);
template Vector3<float> Matrix3<float>::operator *(const Vector3<float> &v) const;
template Matrix3<float> Matrix3<float>::operator *(const Matrix3<float> &m) const;

22
libraries/AP_Math/matrix3.h
View File

@ -90,27 +90,11 @@ public:
{ return *this = *this / num; }
// multiplication by a vector
Vector3<T> operator *(const Vector3<T> &v) const
{
return Vector3<T>(a.x * v.x + a.y * v.y + a.z * v.z,
b.x * v.x + b.y * v.y + b.z * v.z,
c.x * v.x + c.y * v.y + c.z * v.z);
}
Vector3<T> operator *(const Vector3<T> &v) const;
// multiplication by another Matrix3<T>
Matrix3<T> operator *(const Matrix3<T> &m) const
{
Matrix3<T> temp (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
return temp;
}
Matrix3<T> operator *(const Matrix3<T> &m) const;
Matrix3<T> &operator *=(const Matrix3<T> &m)
{ return *this = *this * m; }