You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
951 lines
17 KiB
C++
951 lines
17 KiB
C++
/*
|
|
* 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;
|
|
}
|
|
|