From d33a00721ab563c8832f45f29640b254df7c6dd4 Mon Sep 17 00:00:00 2001
From: Hartmut Seichter <hartmut@technotecture.com>
Date: Wed, 4 Apr 2018 11:33:19 +0200
Subject: [PATCH] validated matrix multiplication

---
 src/core/include/pw/core/matrix.hpp   | 14 +++++++-------
 src/core/tests/pwcore_test_matrix.cpp | 14 ++++++++++++++
 2 files changed, 21 insertions(+), 7 deletions(-)

diff --git a/src/core/include/pw/core/matrix.hpp b/src/core/include/pw/core/matrix.hpp
index 5e5a27f..cf21970 100644
--- a/src/core/include/pw/core/matrix.hpp
+++ b/src/core/include/pw/core/matrix.hpp
@@ -94,14 +94,13 @@ public:
 
     matrix<R,C,T>& operator *= (const matrix<R,C,T>& rhs);
 
-    matrix<R,C,T>& copyFrom(const T* src) { for (unsigned int i = 0; i < R*C; ++i) { (*this).at(i) = src[i]; } return *this; }
+    matrix<R,C,T>& copy_from_data(const T* src) { for (unsigned int i = 0; i < R*C; ++i) { (*this).at(i) = src[i]; } return *this; }
 
     matrix<R,C,T> operator * (const matrix<R,C,T>& rhs) const {
         return mul(*this,rhs);
     }
 
-    matrix<C,R,T>
-    reshape() const {
+    const matrix<C,R,T> reshape() const {
         matrix<C,R,T> m;
         for (unsigned int r = 0; r < R; ++r)
             for (unsigned int c = 0; c < C; ++c)
@@ -109,12 +108,12 @@ public:
         return m;
     }
 
-    matrix<R,1,T> getColumn(unsigned int col) const {
+    const matrix<R,1,T> get_column(unsigned int col) const {
         matrix<R,1,T> c; for (unsigned int r = 0; r < R; ++r) c(r,0) = (this)(r,col);
         return c;
     }
 
-    matrix<1,C,T> getRow(unsigned int row) const {
+    const matrix<1,C,T> get_row(unsigned int row) const {
         matrix<1,C,T> r; for (unsigned int c = 0; c < C; ++c) r(0,c) = (this)(row,c);
         return r;
     }
@@ -180,14 +179,15 @@ mul(const matrix<aR,aCbR,T>& A, const matrix<aCbR,bC,T>& B)
 {
     // aC == bR
     // set all null
-    matrix<aR,bC,T> res = matrix<aR,bC,T>::All(0);
+    matrix<aR,bC,T> res;
+    res.fill(0);
 
     // compute all resulting cells
     for (unsigned int r = 0; r < aR; ++r) {
         for (unsigned int c = 0; c < bC; ++c) {
             // building inner product
             for (unsigned int iI = 0; iI < aCbR;iI++) {
-                res(r,c) += A(r,iI) * B(iI,c);
+                res.at(r,c) += A.at(r,iI) * B.at(iI,c);
             }
         }
     }
diff --git a/src/core/tests/pwcore_test_matrix.cpp b/src/core/tests/pwcore_test_matrix.cpp
index b9e3501..a8cdd63 100644
--- a/src/core/tests/pwcore_test_matrix.cpp
+++ b/src/core/tests/pwcore_test_matrix.cpp
@@ -33,5 +33,19 @@ int main(int argc,char **argv) {
     std::cout << "mscale = " << pw::serialize::matrix(mscale) << std::endl;
 
 
+    pw::matrix44d a;
+
+    for (int r = 0; r < m.rows(); r++) {
+        for (int c = 0; c < m.cols(); c++) {
+            a.at(r,c) = r * m.cols() + c;
+        }
+    }
+    std::cout << "a = " << pw::serialize::matrix(a) << std::endl;
+
+    pw::matrix44d r = a * mscale;
+
+    std::cout << "a * mscale = " << pw::serialize::matrix(r) << std::endl;
+
+
     return 0;
 }