matrices.h

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// ----------------------------------------------------------------------------
// MATRIX OBJECT DEFINITION
// 
// Created By: Michael Wrona
// Created: 16 Feb 2021
// ----------------------------------------------------------------------------
#pragma once
 
#include <Arduino.h>
#include "hummingbird_config.h"
 
 
#if defined(DEBUG) && defined(DEBUG_PORT)
    // #define MATRIX_OBJ_DEBUG  /* Enable a message to signal when a matrix was created and destroyed */
#endif
 
#define MATRIX_ELEMENT(MAT, i, j, rows, cols) *(MAT + i*cols + j)
 
 
class Matrix {
public:
    // ----------------------------------------------------------------------------
    // Matrix(size_t rows, size_t cols)
    // ----------------------------------------------------------------------------
    Matrix(size_t rows = 3, size_t cols = 3)
    {
        size_t i;
        float initVal = 0.0f;  // Value to initialize and fill array with
        float **pmat;  // pointer for construction
 
        this->rows = rows;
        this->cols = cols;
 
        // Create the array on the heap (RAM2 on Teensy 4.1)
        this->mat = new float[this->rows*this->cols];
        pmat = new float*[this->rows];
        for (i = 1, *pmat = this->mat; i < this->rows; i++)
            *(pmat + i) = *(pmat + i - 1) + this->cols;
        
        // Init. values
        size_t rc = this->rows * this->cols;
        for (i = 0; i < rc; i++)
            this->mat[i] = initVal;
 
    #ifdef MATRIX_OBJ_DEBUG
        DEBUG_PORT.print("Created "); DEBUG_PORT.print(this->rows); DEBUG_PORT.print("x");
        DEBUG_PORT.print(this->cols); DEBUG_PORT.println(" matrix");
    #endif
    }
 
 
    #ifdef MATRIX_OBJ_DEBUG
    void PrintToDebug(size_t decimals = 2)
    {
        size_t i, j;
 
        // Cannot print more than 7 decimals for floats...
        if (decimals >= 7)
            decimals = 4;
        
        for (i = 0; i < this->rows; i++)
        {
            DEBUG_PORT.print("[[ ");
            for (j = 0; j < this->cols; j++)
            {
                DEBUG_PORT.print(MATRIX_ELEMENT(this->mat, i, j, this->rows, this->cols), decimals);
                DEBUG_PORT.print((j != this->cols - 1) ? ", " : "");
            }
            DEBUG_PORT.println(" ]]");
        }
        DEBUG_PORT.println("");  // Newline to help separate matrices
    }
    #endif
 
 
    /* VARIABLES */
    size_t rows;  // Rows of the matrix
    size_t cols;  // Columns of the matrix
    float *mat;  // Pointer to the 2D array/matrix
 
 
    /*  Deconstruct/deallocate the matrix once it goes out-of-scope.  */
    ~Matrix()
    {
        delete[] this->mat;
 
    #ifdef MATRIX_OBJ_DEBUG
        DEBUG_PORT.print("Deallocated "); DEBUG_PORT.print(this->rows); DEBUG_PORT.print("x");
        DEBUG_PORT.print(this->cols); DEBUG_PORT.println(" matrix");
    #endif
    }
protected:
private:
};