前段时间做了一个机器人的仿真开发,需要用到矩阵运算,于是自己写了一套,分享出来。
easyMat.h:
class easyMat {
private:
uint16_t row;
uint16_t col;
public:
float ** data;
easyMat(uint16_t r, uint16_t c);
easyMat(easyMat & e);
~easyMat() {
for (auto i = 0; i < row; i++)
delete[] data[i];
delete[] data;
}
easyMat& operator= (float * d);
void easyMat_Cout();
friend easyMat& operator * (const easyMat Mat1, const easyMat Mat2);
friend easyMat& operator * (const easyMat Mat, const float k);
};
easyMat.cpp:
easyMat::easyMat(easyMat & e) { //深拷贝构造函数函数
row = e.row;
col = e.col;
data = new float*[row];
for (auto i = 0; i < row; i++) {
data[i] = new float[col];
}
for (auto i = 0; i < row; i++)
for (auto j = 0; j < col; j++)
data[i][j] = e.data[i][j];
}
easyMat::easyMat(uint16_t r, uint16_t c) :row(r), col(c) { //构造函数,初始化一个二维指针数组
data = new float*[row];
for (auto i = 0; i < row; i++)
data[i] = new float[col];
}
void easyMat::easyMat_Cout() { //将对象的数组打印
for (auto i = 0; i < row; i++)
for (auto j = 0; j < col; j++)
std::cout << data[i][j] << std::endl;
}
easyMat& easyMat::operator = (float *d) { //重载"=",实现数组直接初始化data指针
for (int i = 0; i < this->row; i++) {
for(int j = 0;j < this->col; j++)
data[i][j] = d[i*this->col+j];
}
return *this;
}
easyMat& operator * (const easyMat Mat1, const easyMat Mat2) { //两矩阵相乘
easyMat * outMat = new easyMat(Mat1.row, Mat2.col);
for (auto i = 0; i < Mat1.row; i++) {
for (auto j = 0; j < Mat2.col; j++) {
outMat->data[i][j] = 0;
for (auto m = 0; m < Mat1.col; m++)
outMat->data[i][j] += Mat1.data[i][m] * Mat2.data[m][j];
}
}
return *outMat;
}
easyMat& operator* (const easyMat Mat, const float k) { //矩阵与常数相乘
easyMat * outMat = new easyMat(Mat.row, Mat.col);
for (auto i = 0; i < Mat.row; i++)
for (auto j = 0; j < Mat.col; j++)
outMat->data[i][j] = Mat.data[i][j] * k;
return *outMat;
}