3dpcp/.svn/pristine/d3/d30e9d668d984e55c7c0abc261f44721232fa089.svn-base

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2012-09-16 12:33:11 +00:00
/*
* matrix implementation
*
* Copyright (C) YuanJun, ZhangLiang, Li Wei, Li Ming, Andreas Nuechter,
*
* Released under the GPL version 3.
*
*/
/**
* @file
* @brief
*
* @author Andreas Nuechter. Jacobs University Bremen, Germany
* @author YuanJun, Wuhan University, China
* @author ZhangLiang, Wuhan University, China
* @author Li Wei, Wuhan University, China
* @author Li Ming, Wuhan University, China
*/
#include "veloslam/matrix.h"
#include <math.h>
#include <stdlib.h>
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
CMatrix::CMatrix()
{
m_nRow = 0;
m_nCol = 0;
m_pTMatrix.resize (m_nRow);
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix[i].resize (m_nCol);
m_pTMatrix[i][j] = (double) 0;
}
}
}
CMatrix::~CMatrix()
{
}
CMatrix::CMatrix(unsigned int nRow,unsigned int nCol)
{
TMatrix tMatrix;
tMatrix.resize (nRow);
for(unsigned int i=0; i < nRow; i++)
{
for(unsigned int j=0; j < nCol; j++)
{
tMatrix[i].resize(nCol);
tMatrix[i][j] = (double) 0;
}
}
m_nRow = nRow;
m_nCol = nCol;
m_pTMatrix = tMatrix;
}
CMatrix::CMatrix(CMatrix& cMatrixB)
{
// Initialize the variable
m_nRow = cMatrixB.m_nRow ;
m_nCol = cMatrixB.m_nCol ;
m_pTMatrix = cMatrixB.m_pTMatrix ;
// Copy Data
for(unsigned int i=0; i< cMatrixB.m_nRow; i++)
{
for(unsigned int j=0; j < cMatrixB.m_nCol; j++)
{
m_pTMatrix [i][j] = cMatrixB.m_pTMatrix [i][j];
}
}
}
/////////////////////////////////////////////////////////////////////////////
// CMatrix member functions
//
CMatrix CMatrix::operator +(CMatrix& cMatrixB)
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = m_pTMatrix [i][j] + cMatrixB.m_pTMatrix [i][j];
}
}
return cMatrix;
}
CMatrix CMatrix::operator -(CMatrix& cMatrixB)
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = m_pTMatrix [i][j] - cMatrixB.m_pTMatrix [i][j];
}
}
return cMatrix;
}
CMatrix CMatrix::operator *(CMatrix& cMatrixB)
{
CMatrix cResultMatrix(m_nRow,cMatrixB.m_nCol);
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < cMatrixB.m_nCol; j++)
{
for(unsigned int m=0; m < m_nCol; m++)
{
cResultMatrix.m_pTMatrix [i][j] += m_pTMatrix [i][m] * cMatrixB.m_pTMatrix [m][j];
}
}
}
return cResultMatrix;
}
CMatrix CMatrix::operator * (double nValue)
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] =m_pTMatrix [i][j] * nValue;
}
}
return cMatrix;
}
CMatrix& CMatrix::operator =(CMatrix& cMatrixB)
{
m_nRow = cMatrixB.m_nRow ;
m_nCol = cMatrixB.m_nCol ;
m_pTMatrix = cMatrixB.m_pTMatrix ;
for(unsigned int i=0; i < cMatrixB.m_nRow; i++)
{
for(unsigned int j=0; j< cMatrixB.m_nCol; j++)
{
m_pTMatrix [i][j] = cMatrixB.m_pTMatrix [i][j];
}
}
return *this;
}
CMatrix& CMatrix::operator =(const CMatrix& cMatrixB)
{
m_nRow = cMatrixB.m_nRow ;
m_nCol = cMatrixB.m_nCol ;
m_pTMatrix = cMatrixB.m_pTMatrix ;
for(unsigned int i=0; i < cMatrixB.m_nRow; i++)
{
for(unsigned int j=0; j< cMatrixB.m_nCol; j++)
{
m_pTMatrix [i][j] = cMatrixB.m_pTMatrix [i][j];
}
}
return *this;
}
CMatrix& CMatrix::operator += (CMatrix& cMatrixB)
{
for(unsigned int i=0; i < cMatrixB.m_nRow; i++)
{
for(unsigned int j=0; j< cMatrixB.m_nCol; j++)
{
m_pTMatrix [i][j] += cMatrixB.m_pTMatrix [i][j];
}
}
return *this;
}
CMatrix CMatrix::Transpose()
{
CMatrix cMatrix(m_nCol,m_nRow);
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [j][i] = m_pTMatrix [i][j];
}
}
return cMatrix;
}
CMatrix CMatrix::MergeColumnsToColumnVector()
{
CMatrix cMatrix(m_nRow * m_nCol,(unsigned int)1);
for(unsigned int j=0; j < m_nCol; j++)
{
for(unsigned int i=0; i < m_nRow; i++)
{
cMatrix.m_pTMatrix [i + j * m_nRow][(unsigned int)0] = m_pTMatrix [i][j];
}
}
return cMatrix;
}
/////////////////////////////////////////////////////////////////////////////
// Get the total value of the matrix
/////////////////////////////////////////////////////////////////////////////
double CMatrix::GetTotalElementValue()
{
double nTotalValue = 0;
for(unsigned int i=0; i < m_nRow; i++)
{
for( unsigned int j=0; j < m_nCol; j++)
{
nTotalValue += m_pTMatrix [i][j];
}
}
return nTotalValue;
}
/////////////////////////////////////////////////////////////////////////////
// Get System Error
/////////////////////////////////////////////////////////////////////////////
double CMatrix::GetSystemError() const
{
double nSystemError = 0;
for(unsigned int i=0; i < m_nRow; i++)
{
for( unsigned int j=0; j < m_nCol; j++)
{
nSystemError += m_pTMatrix [i][j] * m_pTMatrix [i][j];
}
}
return nSystemError;
}
/////////////////////////////////////////////////////////////////////////////
// Make all the matrix elements to be changed into absolute value
/////////////////////////////////////////////////////////////////////////////
CMatrix CMatrix::AbsoluteValue ()
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = fabs( m_pTMatrix [i][j]);
}
}
return cMatrix;
}
CMatrix CMatrix::Inverse()
{
CMatrix cMatrix = *this;
int *pIntArray = new int [2*m_nCol];
for(unsigned int k=0; k < cMatrix.m_nCol; k++)
{
double nMaxElement = cMatrix.m_pTMatrix [k][k];
unsigned int nMainRow = k;
for(unsigned int nCount = k+1; nCount < cMatrix.m_nCol; nCount++)
{
if( fabs(nMaxElement) < fabs(cMatrix.m_pTMatrix [nCount][k]) )
{
nMaxElement = cMatrix.m_pTMatrix [nCount][k];
nMainRow = nCount;
}
}
pIntArray [2*k] = k;
pIntArray [2*k+1] = nMainRow;
cMatrix.SwapMatrixRow(k,nMainRow);
cMatrix.m_pTMatrix [k][k] = 1/(cMatrix.m_pTMatrix [k][k]);
for(unsigned int i=0; i < cMatrix.m_nRow; i++)
{
if( i != k)
cMatrix.m_pTMatrix [i][k] = -(cMatrix.m_pTMatrix [k][k]) * (cMatrix.m_pTMatrix [i][k]);
}
for(unsigned int m=0; m < cMatrix.m_nRow; m++)
{
if ( m == k)
continue;
for(unsigned int n=0; n < cMatrix.m_nCol; n++)
{
if ( n == k)
continue;
cMatrix.m_pTMatrix [m][n] += cMatrix.m_pTMatrix [m][k] * cMatrix.m_pTMatrix [k][n];
}
}
for(unsigned int j=0; j < cMatrix.m_nCol; j++)
{
if( j != k)
cMatrix.m_pTMatrix [k][j] = (cMatrix.m_pTMatrix [k][k]) * (cMatrix.m_pTMatrix [k][j]);
}
}
for(int i=2*m_nCol-1; i > 0; i--)
{
cMatrix.SwapMatrixCol(pIntArray[i],pIntArray[i-1]);
i--;
}
delete []pIntArray;
return cMatrix;
}
void CMatrix::SwapMatrixRow(unsigned int nRow1,unsigned int nRow2)
{
if( nRow1 == nRow2)
return;
double *pArray = new double;
for(unsigned int i=0; i < m_nCol; i++)
{
// Swap the datum of the two rows
pArray[0] = m_pTMatrix [nRow1][i];
m_pTMatrix [nRow1][i] = m_pTMatrix [nRow2][i];
m_pTMatrix [nRow2][i] = pArray[0];
}
delete pArray;
}
void CMatrix::SwapMatrixCol(unsigned int nCol1,unsigned int nCol2)
{
if( nCol1 == nCol2)
return;
double *pArray = new double;
for(unsigned int i=0; i < m_nRow; i++)
{
// Swap the datum of the two columns
pArray[0] = m_pTMatrix [i][nCol1];
m_pTMatrix [i][nCol1] = m_pTMatrix [i][nCol2];
m_pTMatrix [i][nCol2] = pArray[0];
}
delete pArray;
}
void CMatrix::Eye()
{
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
if(i == j)
{
m_pTMatrix [i][j] = 1;
}
else
{
m_pTMatrix [i][j] = 0;
}
}
}
}
void CMatrix::GetMatrixData(CMatrix& cMatrix, unsigned int nIndex)
{
for(unsigned int i=0; i < cMatrix.m_nRow; i++)
{
for(unsigned int j=0; j < cMatrix.m_nCol; j++)
{
m_pTMatrix [nIndex + i * cMatrix.m_nCol + j][0] = cMatrix.m_pTMatrix [i][j];
}
}
}
void CMatrix::SetMatrixData(CMatrix& cMatrix, unsigned int nIndex)
{
for(unsigned int i=0; i < cMatrix.m_nRow; i++)
{
for(unsigned int j=0; j < cMatrix.m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = m_pTMatrix [nIndex + i * cMatrix.m_nCol + j][0];
}
}
}
void CMatrix::SetMatrixRowData(CMatrix& cMatrix, unsigned int nIndex, unsigned int nRow)
{
for(unsigned int i=0; i < cMatrix.m_nCol; i++)
{
cMatrix.m_pTMatrix [nRow][i] = m_pTMatrix [nIndex + i][(unsigned int)0];
}
}
void CMatrix::GetMatrixRowData(CMatrix& cMatrix, unsigned int nIndex, unsigned int nRow)
{
for(unsigned int i=0; i < cMatrix.m_nCol; i++)
{
m_pTMatrix [nIndex + i][(unsigned int)0] = cMatrix.m_pTMatrix [nRow][i];
}
}
void CMatrix::SetMatrixRowNumber(unsigned int nRow)
{
m_nRow = nRow;
m_pTMatrix.resize (m_nRow);
for(unsigned int i=0; i < m_nRow; i++)
{
m_pTMatrix[i].resize (m_nCol);
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix[i][j] = (double) 0;
}
}
}
void CMatrix::SetMatrixColNumber(unsigned int nCol)
{
m_nCol = nCol;
m_pTMatrix.resize (m_nRow);
for(unsigned int i=0; i < m_nRow; i++)
{
m_pTMatrix[i].resize (m_nCol);
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix[i][j] = (double) 0;
}
}
}
void CMatrix::SetMatrixRowAndCol(unsigned int nRow,unsigned int nCol)
{
m_nRow = nRow;
m_nCol = nCol;
m_pTMatrix.resize (m_nRow);
for(unsigned int i=0; i < m_nRow; i++)
{
m_pTMatrix[i].resize (m_nCol);
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix[i][j] = (double) 0;
}
}
}
void CMatrix::Initialize()
{
m_nRow = 0;
m_nCol = 0;
m_pTMatrix.resize (m_nRow);
for(unsigned int i=0; i < m_nRow; i++)
{
m_pTMatrix[i].resize (m_nCol);
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix[i][j] = (double) 0;
}
}
}
void CMatrix::InitializeZero()
{
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix[i][j] = (double) 0;
}
}
}
void CMatrix::RandomInitialize ()
{
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix [i][j] = (double)(rand() - (0.5*RAND_MAX)) / (0.5*RAND_MAX);
}
}
}
void CMatrix::CopySubMatrix(CMatrix& cMatrix,unsigned int nStartX,unsigned int nStartY)
{
for(unsigned int i=0; i < cMatrix.m_nRow; i++)
{
for(unsigned int j=0; j < cMatrix.m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = m_pTMatrix [nStartY + i][nStartX + j];
}
}
}
void CMatrix::CopyMatrix(CMatrix& cMatrix)
{
m_nRow = cMatrix.m_nRow ;
m_nCol = cMatrix.m_nCol ;
m_pTMatrix = cMatrix.m_pTMatrix ;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix [i][j] = cMatrix.m_pTMatrix [i][j];
}
}
}
void CMatrix::CopySubMatrixFromVector(CMatrix& cMatrix,unsigned int nIndex)
{
for(unsigned int j=0; j < cMatrix.m_nCol; j++)
{
for(unsigned int i=0; i < cMatrix.m_nRow; i++)
{
cMatrix.m_pTMatrix [i][j] = m_pTMatrix [nIndex + j * cMatrix.m_nRow + i ][(unsigned int)0];
}
}
}
void CMatrix::nncpyi(CMatrix &cMatrix, unsigned int nTimes)
{
unsigned int i;
m_nRow = cMatrix.m_nRow ;
m_nCol = cMatrix.m_nCol * nTimes;
m_pTMatrix.resize (m_nRow);
for(int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix[i].resize (m_nCol);
m_pTMatrix[i][j] = (double) 0;
}
}
for(i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < cMatrix.m_nCol; j++)
{
for(unsigned int k=0; k < nTimes; k++)
{
m_pTMatrix [i][j * nTimes + k] = cMatrix.m_pTMatrix [i][j];
}
}
}
}
void CMatrix::nncpyd(CMatrix &cMatrix)
{
unsigned int i;
m_nRow = cMatrix.m_nRow ;
m_nCol = cMatrix.m_nCol * cMatrix.m_nRow ;
m_pTMatrix.resize (m_nRow);
for(int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix[i].resize (m_nCol);
m_pTMatrix[i][j] = (double) 0;
}
}
for(i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < cMatrix.m_nCol; j++)
{
for(unsigned int k=0; k < cMatrix.m_nRow; k++)
{
if(i == (j * cMatrix.m_nRow + k) % cMatrix.m_nRow )
m_pTMatrix [i][j * cMatrix.m_nRow + k] = cMatrix.m_pTMatrix [i][j];
}
}
}
}
void CMatrix::nncpy(CMatrix& cMatrix,unsigned int nTimes)
{
unsigned int i,j;
m_nRow = cMatrix.m_nRow ;
m_nCol = cMatrix.m_nCol * nTimes;
m_pTMatrix.resize (m_nRow);
for(int i=0; i < m_nRow; i++)
{
for(int j=0; j < m_nCol; j++)
{
m_pTMatrix[i].resize (m_nCol);
m_pTMatrix[i][j] = (double) 0;
}
}
for(i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < nTimes; j++)
{
for(unsigned int k=0; k < cMatrix.m_nCol; k++)
{
m_pTMatrix [i][j * cMatrix.m_nCol + k] = cMatrix.m_pTMatrix [i][k];
}
}
}
}
CMatrix CMatrix::Sigmoid()
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = 1 / (1 + exp(-m_pTMatrix [i][j]));
}
}
return cMatrix;
}
CMatrix CMatrix::tanh ()
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = 1 - (2 * exp(-m_pTMatrix [i][j])) / (1 + exp(-m_pTMatrix [i][j]));
}
}
return cMatrix;
}
CMatrix CMatrix::Tansig()
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = 2 / (1 + exp(- 2 * m_pTMatrix [i][j])) - 1;
}
}
return cMatrix;
}
CMatrix CMatrix::TansigDerivative()
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = (2 / (1 + exp(- 2 * m_pTMatrix [i][j])) - 1) * (2 / (1 + exp(- 2 * m_pTMatrix [i][j])) - 1) - 1;
}
}
return cMatrix;
}
void CMatrix::MakeAllColumnElementsSameValue(unsigned int nRowIndex)
{
for(unsigned int i=0; i < m_nRow; i++)
{
if(i == nRowIndex)
continue;
for(unsigned int j=0; j < m_nCol; j++)
{
m_pTMatrix [i][j] = m_pTMatrix [nRowIndex][j];
}
}
}
CMatrix CMatrix::SigmoidDerivative()
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = exp(-m_pTMatrix [i][j]) / ((1 + exp(-m_pTMatrix [i][j])) * (1 + exp(-m_pTMatrix [i][j])));
}
}
return cMatrix;
}
CMatrix CMatrix::tanhDerivative()
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = 2 * exp(-m_pTMatrix [i][j]) / ((1 + exp(-m_pTMatrix [i][j])) * (1 + exp(-m_pTMatrix [i][j])));
}
}
return cMatrix;
}
CMatrix CMatrix::operator / (CMatrix& cMatrixB)
{
CMatrix cMatrix = *this;
for(unsigned int i=0; i < m_nRow; i++)
{
for(unsigned int j=0; j < m_nCol; j++)
{
cMatrix.m_pTMatrix [i][j] = m_pTMatrix [i][j] * cMatrixB.m_pTMatrix [i][j];
}
}
return cMatrix;
}
CMatrix operator - (double nValue,CMatrix& cMatrixB)
{
CMatrix cMatrix = cMatrixB;
for(unsigned int i=0; i < cMatrix.GetMatrixRowNumber (); i++)
{
for(unsigned int j=0; j < cMatrix.GetMatrixColNumber (); j++)
{
cMatrix.m_pTMatrix [i][j] = nValue - cMatrixB.m_pTMatrix [i][j];
}
}
return cMatrix;
}
CMatrix MergeMatrix(CMatrix& cMatrixA,CMatrix& cMatrixB)
{
CMatrix cMatrix(cMatrixA.GetMatrixRowNumber (),cMatrixA.GetMatrixColNumber () + cMatrixB.GetMatrixColNumber ());
for(unsigned int i=0; i < cMatrixA.GetMatrixRowNumber (); i++)
{
for(unsigned int j=0; j < cMatrixA.GetMatrixColNumber (); j++)
{
cMatrix.m_pTMatrix [i][j] = cMatrixA.m_pTMatrix [i][j];
}
for(unsigned int k=0; k < cMatrixB.GetMatrixColNumber (); k++)
{
cMatrix.m_pTMatrix [i][cMatrixA.GetMatrixColNumber () + k] = cMatrixB.m_pTMatrix [i][k];
}
}
return cMatrix;
}