Add flatbuffer Matrix table and library
This makes it easier to pack Eigen matrices into flatbuffers for use in
constants files, AOS messages, etc.
Change-Id: Icd1f5d9d3e57821c2aa21eef03d52e67f80faa69
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/math/matrix.fbs b/frc971/math/matrix.fbs
new file mode 100644
index 0000000..8bbd03a
--- /dev/null
+++ b/frc971/math/matrix.fbs
@@ -0,0 +1,39 @@
+namespace frc971.fbs;
+
+enum StorageOrder : ubyte {
+ // Column-major; i.e., for a matrix
+ // [1 2]
+ // [3 4]
+ // The memory layout will be 1 3 2 4.
+ ColMajor = 0,
+ // Row-major; i.e., for a matrix
+ // [1 2]
+ // [3 4]
+ // The memory layout will be 1 2 3 4.
+ RowMajor = 1,
+}
+
+// Represents a dynamically-sized 2-D matrix that is either row-major or column-major.
+table Matrix {
+ // rows and cols must both be greater than zero.
+ rows:uint (id: 0);
+ cols:uint (id: 1);
+ storage_order:StorageOrder = ColMajor (id: 2);
+ // data must be present and must have a length of rows * cols.
+ data:[double] (id: 3);
+}
+
+// The below enums are used in C++ code for communicating errors in parsing
+// the matrix; they are mostly only defined in the fbs file so that we get
+// pre-generated functions for converting the enum values to strings.
+enum MatrixField : ubyte {
+ kRows = 0,
+ kCols,
+ kStorageOrder,
+ kData,
+}
+
+enum FieldError : ubyte {
+ kInconsistentWithTemplate = 0,
+ kMissing,
+}