This library was designed by Justin Marple on Team BNS
Contact: jmarple@umass.edu

• CreateMatrix (Matrix *dst, char *input)
• CreateZerosMatrix (Matrix *dst, int height, int width)
• CreateIdentityMatrix (Matrix *dst, int height)
• SetMatrixAt (Matrix *dst, int height, int width, float value)
• GetMatrixAt (Matrix *dst, int height, int width)
• DeleteMatrix (Matrix *dst)
• CopyMatrix (Matrix *dst, Matrix src)
• CopyMatrixByValue (Matrix *dst, Matrix src)

Matrix Arithmetic:

• MatrixAdd (Matrix *dst, Matrix A, Matrix B)
• MatrixSub (Matrix *dst, Matrix A, Matrix B)
• MatrixMult (Matrix *dst, Matrix A, Matrix B)
• MatrixInv (Matirx *dst, Matrix A)

Matrix Operations:

• MatrixTranspose (Matrix *dst, Matrix A)
• MatrixDeterminant (Matrix *src)
• MatrixTrace (Matrix *src)

Dynamic Array Basics:

• DynamicArrayAdd (DynamicArray *array, float value)
• DynamicArrayGet (DynamicArray *array)
• DynamicArraySize (DynamicArray *array)
• DynamicArrayRemoveAt (DynamicArray *array, float index)
• DynamicArrayClear (DynamicArray *array)
• DynamicArrayDelete (DynamicArray *array)

Stack Basics:

• StackPush (Stack *object, float value)
• StackPop (Stack *object)
• StackPeek (Stack *object)
• StackIsEmpty (Stack *object)

Circular Buffer Basics:

• CircularBufferInit (CircularBuffer *object, int size)
• CircularBufferIsEmpty (CircularBuffer *object)
• CircularBufferIsFull (CircularBuffer *object)
• CircularBufferSize (CircularBuffer *object)
• CircularBufferAdd (CircularBuffer *object, float value)
• CircularBufferGet (CircularBuffer *object)

Motion Profile Basics:

• MotionProfileInit (MotionProfile *profile)
• MotionProfileSetAccel (MotionProfile *profile, float accel, float decel)
• MotionProfileSetVelocity(MotionProfile *profile, float enterVel, float maxVel, float endVel)
• MotionProfileSetDistance(MotionProfile *profile, float distance)
• MotionProfileIsComplete(MotionProfile *profile, float time)
• MotionProfileCompute (MotionProfile *profile, float time)
• MotionProfileEasyParams(MotionProfile *profile, float accel, float speed, float distance)

PID Basics:

• PIDInit (PID *controller, float kP, float kI, float kD)
• PIDCompute (PID *controller, float error)

Gaussian Distribution Basics:

• GaussianInit (Gaussian *gau, Matrix mean, Matrix covariance)
• GaussianPDF (Gaussian *gau, Matrix data)

Kalman Filter Basics:

• KalmanInit (KalmanFilter *kal, int variables, int measurements, [...])
• KalmanPredict (KalmanFilter *kal)
• KalmanUpdate (KalmanFilter *kal, Matrix measurement)

Simple Kalman Filter Basics:

• SimpleKalmanInit (KalmanFilter *kal, double dt)
• SimpleKalmanUpdate (KalmanFilter *kal, float data)

Median Filter Basics:

• MedianInit (MedianFilter *filter, float size)
• MedianAddData (MedianFilter *filter, float data)
• MedianCompute (MedianFilter *filter)

• V0.10.0: First release, basic matrix operation and filters implemented
• V0.11.0: Updated for portability with most C compilers (note: still some issues with portability though)
• V0.12.0: PID controller added. Changed MultiplyScalarToMatrix to MatrixMultiplyScalar
• V0.13.0: DynamicArray & Stack Data Structures Added. Added PID Integral functions.
• V0.13.3: BNSMatrix changed to use DynamicArray. Significant bug found where uninitialized structs could seen as initialized.
• V0.14.0: SimpleKalmanFilter created. CircularBuffer added as a data structure.
• V0.15.0: Added MotionProfile Controller.