5502879a5b
This is very much still work in progress and much more will change before the final 2.0.0 Some APIs have changed. New libraries have been added. LittleFS included. Co-authored-by: Seon Rozenblum <seonr@3sprockets.com> Co-authored-by: Me No Dev <me-no-dev@users.noreply.github.com> Co-authored-by: geeksville <kevinh@geeksville.com> Co-authored-by: Mike Dunston <m_dunston@comcast.net> Co-authored-by: Unexpected Maker <seon@unexpectedmaker.com> Co-authored-by: Seon Rozenblum <seonr@3sprockets.com> Co-authored-by: microDev <70126934+microDev1@users.noreply.github.com> Co-authored-by: tobozo <tobozo@users.noreply.github.com> Co-authored-by: bobobo1618 <bobobo1618@users.noreply.github.com> Co-authored-by: lorol <lorolouis@gmail.com> Co-authored-by: geeksville <kevinh@geeksville.com> Co-authored-by: Limor "Ladyada" Fried <limor@ladyada.net> Co-authored-by: Sweety <switi.mhaiske@espressif.com> Co-authored-by: Loick MAHIEUX <loick111@gmail.com> Co-authored-by: Larry Bernstone <lbernstone@gmail.com> Co-authored-by: Valerii Koval <valeros@users.noreply.github.com> Co-authored-by: 快乐的我531 <2302004040@qq.com> Co-authored-by: chegewara <imperiaonline4@gmail.com> Co-authored-by: Clemens Kirchgatterer <clemens@1541.org> Co-authored-by: Aron Rubin <aronrubin@gmail.com> Co-authored-by: Pete Lewis <601236+lewispg228@users.noreply.github.com>
505 lines
12 KiB
C++
505 lines
12 KiB
C++
// Copyright 2018-2019 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef _dspm_mat_h_
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#define _dspm_mat_h_
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#include <iostream>
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/**
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* @brief DSP matrix namespace
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*
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* DSP library matrix namespace.
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*/
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namespace dspm {
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/**
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* @brief Matrix
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*
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* The Mat class provides basic matrix operations on single-precision floating point values.
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*/
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class Mat {
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public:
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/**
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* Constructor allocate internal buffer.
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* @param[in] rows: amount of matrix rows
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* @param[in] cols: amount of matrix columns
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*/
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Mat(int rows, int cols);
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/**
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* Constructor use external buffer.
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* @param[in] data: external buffer with row-major matrix data
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* @param[in] rows: amount of matrix rows
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* @param[in] cols: amount of matrix columns
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*/
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Mat(float *data, int rows, int cols);
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/**
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* Allocate matrix with undefined size.
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*/
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Mat();
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virtual ~Mat();
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/**
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* Make copy of matrix.
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* @param[in] src: source matrix
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*/
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Mat(const Mat &src);
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/**
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* Copy operator
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*
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* @param[in] src: source matrix
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*
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* @return
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* - matrix copy
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*/
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Mat &operator=(const Mat &src);
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bool ext_buff; /*!< Flag indicates that matrix use external buffer*/
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/**
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* Access to the matrix elements.
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* @param[in] row: row position
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* @param[in] col: column position
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*
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* @return
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* - element of matrix M[row][col]
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*/
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inline float &operator()(int row, int col)
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{
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return data[row * this->cols + col];
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}
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/**
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* Access to the matrix elements.
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* @param[in] row: row position
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* @param[in] col: column position
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*
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* @return
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* - element of matrix M[row][col]
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*/
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inline const float &operator()(int row, int col) const
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{
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return data[row * this->cols + col];
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}
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/**
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* += operator
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: source matrix
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*
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* @return
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* - result matrix: result += A
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*/
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Mat &operator+=(const Mat &A);
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/**
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* += operator
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] C: constant
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*
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* @return
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* - result matrix: result += C
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*/
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Mat &operator+=(float C);
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/**
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* -= operator
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: source matrix
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*
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* @return
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* - result matrix: result -= A
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*/
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Mat &operator-=(const Mat &A);
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/**
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* -= operator
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] C: constant
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*
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* @return
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* - result matrix: result -= C
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*/
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Mat &operator-=(float C);
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/**
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* *= operator
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: source matrix
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*
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* @return
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* - result matrix: result -= A
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*/
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Mat &operator*=(const Mat &A);
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/**
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* += with constant operator
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] C: constant value
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*
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* @return
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* - result matrix: result *= C
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*/
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Mat &operator*=(float C);
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/**
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* /= with constant operator
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] C: constant value
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*
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* @return
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* - result matrix: result /= C
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*/
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Mat &operator/=(float C);
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/**
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* /= operator
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*
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* @param[in] B: source matrix
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*
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* @return
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* - result matrix: result[i,j] = result[i,j]/B[i,j]
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*/
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Mat &operator/=(const Mat &B);
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/**
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* ^= xor with constant operator
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* The operator use DSP optimized implementation of multiplication.
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* @param[in] C: constant value
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*
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* @return
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* - result matrix: result ^= C
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*/
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Mat operator^(int C);
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/**
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* Swap two rows between each other.
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* @param[in] row1: position of first row
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* @param[in] row2: position of second row
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*/
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void swapRows(int row1, int row2);
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/**
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* Matrix transpose.
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* Change rows and columns between each other.
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*
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* @return
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* - transposed matrix
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*/
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Mat t();
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/**
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* Create identity matrix.
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* Create a square matrix and fill diagonal with 1.
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*
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* @param[in] size: matrix size
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*
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* @return
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* - matrix [N]x[N] with 1 in diagonal
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*/
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static Mat eye(int size);
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/**
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* Create matrix with all elements 1.
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* Create a square matrix and fill all elements with 1.
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*
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* @param[in] size: matrix size
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*
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* @return
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* - matrix [N]x[N] with 1 in all elements
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*/
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static Mat ones(int size);
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/**
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* Return part of matrix from defined position (startRow, startCol) as a matrix[blockRows x blockCols].
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*
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* @param[in] startRow: start row position
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* @param[in] startCol: start column position
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* @param[in] blockRows: amount of rows in result matrix
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* @param[in] blockCols: amount of columns in the result matrix
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*
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* @return
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* - matrix [blockRows]x[blockCols]
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*/
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Mat block(int startRow, int startCol, int blockRows, int blockCols);
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/**
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* Normalizes the vector, i.e. divides it by its own norm.
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* If it's matrix, calculate matrix norm
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*
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*/
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void normalize(void);
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/**
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* Return norm of the vector.
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* If it's matrix, calculate matrix norm
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*
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* @return
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* - matrix norm
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*/
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float norm(void);
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/**
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* The method fill 0 to the matrix structure.
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*
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*/
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void clear(void);
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/**
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* @brief Solve the matrix
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*
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* Solve matrix. Find roots for the matrix A*x = b
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*
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* @param[in] A: matrix [N]x[N] with input coefficients
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* @param[in] b: vector [N]x[1] with result values
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*
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* @return
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* - matrix [N]x[1] with roots
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*/
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static Mat solve(Mat A, Mat b);
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/**
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* @brief Band solve the matrix
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*
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* Solve band matrix. Find roots for the matrix A*x = b with bandwidth k.
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*
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* @param[in] A: matrix [N]x[N] with input coefficients
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* @param[in] b: vector [N]x[1] with result values
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* @param[in] k: upper bandwidth value
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*
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* @return
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* - matrix [N]x[1] with roots
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*/
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static Mat bandSolve(Mat A, Mat b, int k);
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/**
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* @brief Solve the matrix
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*
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* Different way to solve the matrix. Find roots for the matrix A*x = y
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*
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* @param[in] A: matrix [N]x[N] with input coefficients
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* @param[in] y: vector [N]x[1] with result values
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*
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* @return
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* - matrix [N]x[1] with roots
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*/
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static Mat roots(Mat A, Mat y);
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/**
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* @brief Dotproduct of two vectors
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*
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* The method returns dotproduct of two vectors
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*
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* @param[in] A: Input vector A Nx1
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* @param[in] B: Input vector B Nx1
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*
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* @return
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* - dotproduct value
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*/
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static float dotProduct(Mat A, Mat B);
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/**
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* @brief Augmented matrices
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*
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* Augmented matrices
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*
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* @param[in] A: Input vector A MxN
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* @param[in] B: Input vector B MxK
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*
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* @return
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* - Augmented matrix Mx(N+K)
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*/
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static Mat augment(Mat A, Mat B);
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/**
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* @brief Gaussian Elimination
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*
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* Gaussian Elimination of matrix
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*
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* @return
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* - result matrix
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*/
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Mat gaussianEliminate();
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/**
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* Row reduction for Gaussian elimination
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*
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* @return
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* - result matrix
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*/
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Mat rowReduceFromGaussian();
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/**
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* Find the inverse matrix
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*
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* @return
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* - inverse matrix
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*/
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Mat inverse();
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/**
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* Find pseudo inverse matrix
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*
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* @return
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* - inverse matrix
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*/
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Mat pinv();
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int rows; /*!< Amount of rows*/
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int cols; /*!< Amount of columns*/
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float *data; /*!< Buffer with matrix data*/
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int length; /*!< Total amount of data in data array*/
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static float abs_tol; /*!< Max acceptable absolute tolerance*/
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private:
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Mat cofactor(int row, int col, int n);
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float det(int n);
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Mat adjoint();
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void allocate(); // Allocate buffer
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Mat expHelper(const Mat &m, int num);
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};
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/**
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* Print matrix to the standard iostream.
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* @param[in] os: output stream
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* @param[in] m: matrix to print
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*
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* @return
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* - output stream
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*/
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std::ostream &operator<<(std::ostream &os, const Mat &m);
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/**
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* Fill the matrix from iostream.
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* @param[in] is: input stream
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* @param[in] m: matrix to fill
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*
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* @return
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* - input stream
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*/
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std::istream &operator>>(std::istream &is, Mat &m);
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/**
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* + operator, sum of two matrices
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: Input matrix A
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* @param[in] B: Input matrix B
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*
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* @return
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* - result matrix A+B
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*/
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Mat operator+(const Mat &A, const Mat &B);
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/**
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* + operator, sum of matrix with constant
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: Input matrix A
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* @param[in] C: Input constant
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*
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* @return
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* - result matrix A+C
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*/
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Mat operator+(const Mat &A, float C);
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/**
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* - operator, subtraction of two matrices
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: Input matrix A
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* @param[in] B: Input matrix B
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*
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* @return
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* - result matrix A-B
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*/
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Mat operator-(const Mat &A, const Mat &B);
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/**
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* - operator, sum of matrix with constant
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: Input matrix A
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* @param[in] C: Input constant
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*
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* @return
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* - result matrix A+C
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*/
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Mat operator-(const Mat &A, float C);
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/**
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* * operator, multiplication of two matrices.
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: Input matrix A
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* @param[in] B: Input matrix B
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*
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* @return
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* - result matrix A*B
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*/
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Mat operator*(const Mat &A, const Mat &B);
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/**
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* * operator, multiplication of matrix with constant
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: Input matrix A
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* @param[in] C: floating point value
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*
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* @return
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* - result matrix A*B
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*/
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Mat operator*(const Mat &A, float C);
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/**
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* * operator, multiplication of matrix with constant
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] C: floating point value
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* @param[in] A: Input matrix A
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*
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* @return
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* - result matrix A*B
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*/
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Mat operator*(float C, const Mat &A);
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/**
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* / operator, divide of matrix by constant
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* The operator use DSP optimized implementation of multiplication.
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*
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* @param[in] A: Input matrix A
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* @param[in] C: floating point value
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*
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* @return
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* - result matrix A*B
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*/
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Mat operator/(const Mat &A, float C);
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/**
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* / operator, divide matrix A by matrix B
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*
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* @param[in] A: Input matrix A
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* @param[in] B: Input matrix B
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*
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* @return
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* - result matrix C, where C[i,j] = A[i,j]/B[i,j]
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*/
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Mat operator/(const Mat &A, const Mat &B);
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/**
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* == operator, compare two matrices
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*
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* @param[in] A: Input matrix A
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* @param[in] B: Input matrix B
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*
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* @return
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* - true if matrices are the same
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* - false if matrices are different
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*/
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bool operator==(const Mat &A, const Mat &B);
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}
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#endif //_dspm_mat_h_
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