frc971/math/matrix.fbs

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,
}