From 92c48e78f82dea41fa869f648501d0028fc7925b Mon Sep 17 00:00:00 2001
From: Quinn Henthorne <qhenthorne@lutron.comgit>
Date: Fri, 13 Dec 2024 11:36:22 -0500
Subject: [PATCH] Moved the matrix implimentation out of the hpp file

---
 .vscode/settings.json |   3 +-
 CMakeLists.txt        |   1 +
 Matrix.cpp            | 440 ++++++++++++++++++++++++++++++++++++++++++
 Matrix.hpp            | 437 +----------------------------------------
 4 files changed, 447 insertions(+), 434 deletions(-)
 create mode 100644 Matrix.cpp

diff --git a/.vscode/settings.json b/.vscode/settings.json
index c1cd6c2..71e5c54 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -72,5 +72,6 @@
         "variant": "cpp",
         "shared_mutex": "cpp"
     },
-    "clangd.enable": false
+    "clangd.enable": false,
+    "C_Cpp.dimInactiveRegions": false
 }
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 59ec225..2fb853f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,6 +26,7 @@ target_include_directories(Vector3D PUBLIC
 add_library(Matrix 
     STATIC
     Matrix.hpp
+    Matrix.cpp
 )
 
 set_target_properties(Matrix
diff --git a/Matrix.cpp b/Matrix.cpp
new file mode 100644
index 0000000..c4e107c
--- /dev/null
+++ b/Matrix.cpp
@@ -0,0 +1,440 @@
+#ifdef MATRIX_H_ // since the .cpp file has to be included by the .hpp file this
+                 // will evaluate to true
+#include "Matrix.hpp"
+
+#include <cmath>
+#include <cstdlib>
+#include <type_traits>
+
+template <uint8_t rows, uint8_t columns>
+void Matrix<rows, columns>::setMatrixToArray(
+    const std::array<float, rows * columns> &array) {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      uint16_t array_idx =
+          static_cast<uint16_t>(row_idx) * static_cast<uint16_t>(columns) +
+          static_cast<uint16_t>(column_idx);
+      if (array_idx < array.size()) {
+        this->matrix[row_idx][column_idx] = array[array_idx];
+      } else {
+        this->matrix[row_idx][column_idx] = 0;
+      }
+    }
+  }
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns>::Matrix(float value) {
+  this->Fill(value);
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns>::Matrix(const std::array<float, rows * columns> &array) {
+  this->setMatrixToArray(array);
+}
+
+// template <uint8_t rows, uint8_t columns>
+// template <typename... Args>
+// Matrix<rows, columns>::Matrix(Args&&... args){
+
+//   // Initialize a std::array with the arguments
+//   if(typeid(args) == typeid(std::array<float, 4>)){
+//     this->setMatrixToArray(args);
+//   }
+//   else{
+//     std::array<float, rows*columns> values = {static_cast<float>(args)...};
+
+//     // now store the array in our internal matrix
+//     this->setMatrixToArray(values);
+//   }
+
+// }
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns>::Matrix(const Matrix<rows, columns> &other) {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      this->matrix[row_idx][column_idx] = other.Get(row_idx, column_idx);
+    }
+  }
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::Add(const Matrix<rows, columns> &other,
+                           Matrix<rows, columns> &result) const {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      result[row_idx][column_idx] =
+          this->Get(row_idx, column_idx) + other.Get(row_idx, column_idx);
+    }
+  }
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::Sub(const Matrix<rows, columns> &other,
+                           Matrix<rows, columns> &result) const {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      result[row_idx][column_idx] =
+          this->Get(row_idx, column_idx) - other.Get(row_idx, column_idx);
+    }
+  }
+
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+template <uint8_t other_columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::Mult(const Matrix<columns, other_columns> &other,
+                            Matrix<rows, other_columns> &result) const {
+  // allocate some buffers for all of our dot products
+  Matrix<1, columns> this_row;
+  Matrix<rows, 1> other_column;
+  Matrix<1, rows> other_column_t;
+
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    // get our row
+    this->GetRow(row_idx, this_row);
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      // get the other matrix'ss column
+      other.GetColumn(column_idx, other_column);
+      // transpose the other matrix's column
+      other_column.Transpose(other_column_t);
+
+      // the result's index is equal to the dot product of these two vectors
+      result[row_idx][column_idx] =
+          Matrix<rows, columns>::dotProduct(this_row, other_column_t);
+    }
+  }
+
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::Mult(float scalar, Matrix<rows, columns> &result) const {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      result[row_idx][column_idx] = this->Get(row_idx, column_idx) * scalar;
+    }
+  }
+
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::Invert(Matrix<rows, columns> &result) const {
+  // since all matrix sizes have to be statically specified at compile time we
+  // can do this
+  static_assert(rows == columns,
+                "Your matrix isn't square and can't be inverted");
+
+  // unfortunately we can't calculate this at compile time so we'll just reurn
+  // zeros
+  float determinant{this->Det()};
+  if (determinant == 0) {
+    // you can't invert a matrix with a negative determinant
+    result.Fill(0);
+    return result;
+  }
+
+  // TODO: This algorithm is really inneficient because of the matrix of minors.
+  // We should make a different algorithm how to calculate the inverse:
+  // https://www.mathsisfun.com/algebra/matrix-inverse-minors-cofactors-adjugate.html
+
+  // calculate the matrix of minors
+  Matrix<rows, columns> minors{};
+  this->MatrixOfMinors(minors);
+
+  // now adjugate the matrix and save it in our output
+  minors.adjugate(result);
+
+  // scale the result by 1/determinant and we have our answer
+  result = result * (1 / determinant);
+  // result.Mult(1 / determinant, result);
+
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<columns, rows> &
+Matrix<rows, columns>::Transpose(Matrix<columns, rows> &result) const {
+  for (uint8_t column_idx{0}; column_idx < rows; column_idx++) {
+    for (uint8_t row_idx{0}; row_idx < columns; row_idx++) {
+      result[row_idx][column_idx] = this->Get(column_idx, row_idx);
+    }
+  }
+
+  return result;
+}
+
+// explicitly define the determinant for a 2x2 matrix because it is definitely
+// the fastest way to calculate a 2x2 matrix determinant
+template <> float Matrix<0, 0>::Det() const { return 1e+6; }
+template <> float Matrix<1, 1>::Det() const { return this->matrix[0][0]; }
+template <> float Matrix<2, 2>::Det() const {
+  return this->matrix[0][0] * this->matrix[1][1] -
+         this->matrix[0][1] * this->matrix[1][0];
+}
+
+template <uint8_t rows, uint8_t columns>
+float Matrix<rows, columns>::Det() const {
+  static_assert(rows == columns,
+                "You can't take the determinant of a non-square matrix.");
+
+  Matrix<rows - 1, columns - 1> MinorMatrix{};
+  float determinant{0};
+  for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+    // for odd indices the sign is negative
+    float sign = (column_idx % 2 == 0) ? 1 : -1;
+    determinant += sign * this->matrix[0][column_idx] *
+                   this->MinorMatrix(MinorMatrix, 0, column_idx).Det();
+  }
+
+  return determinant;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::ElementMultiply(const Matrix<rows, columns> &other,
+                                       Matrix<rows, columns> &result) const {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      result[row_idx][column_idx] =
+          this->Get(row_idx, column_idx) * other.Get(row_idx, column_idx);
+    }
+  }
+
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::ElementDivide(const Matrix<rows, columns> &other,
+                                     Matrix<rows, columns> &result) const {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      result[row_idx][column_idx] =
+          this->Get(row_idx, column_idx) / other.Get(row_idx, column_idx);
+    }
+  }
+
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+float Matrix<rows, columns>::Get(uint8_t row_index,
+                                 uint8_t column_index) const {
+  if (row_index > rows - 1 || column_index > columns - 1) {
+    return 1e+10; // TODO: We should throw something here instead of failing
+                  // quietly
+  }
+  return this->matrix[row_index][column_index];
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<1, columns> &
+Matrix<rows, columns>::GetRow(uint8_t row_index,
+                              Matrix<1, columns> &row) const {
+  row = Matrix<1, columns>(this->matrix[row_index]);
+
+  return row;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, 1> &
+Matrix<rows, columns>::GetColumn(uint8_t column_index,
+                                 Matrix<rows, 1> &column) const {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    column[row_idx][0] = this->Get(row_idx, column_index);
+  }
+
+  return column;
+}
+
+template <uint8_t rows, uint8_t columns>
+void Matrix<rows, columns>::ToString(std::string &stringBuffer) const {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    stringBuffer += "|";
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      stringBuffer += std::to_string(this->matrix[row_idx][column_idx]);
+      if (column_idx != columns - 1) {
+        stringBuffer += "\t";
+      }
+    }
+    stringBuffer += "|\n";
+  }
+}
+
+template <uint8_t rows, uint8_t columns>
+std::array<float, columns> &Matrix<rows, columns>::
+operator[](uint8_t row_index) {
+  if (row_index > rows - 1) {
+    return this->matrix[0]; // TODO: We should throw something here instead of
+                            // failing quietly.
+  }
+  return this->matrix[row_index];
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &Matrix<rows, columns>::
+operator=(const Matrix<rows, columns> &other) {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      this->matrix[row_idx][column_idx] = other.Get(row_idx, column_idx);
+    }
+  }
+  // return a reference to ourselves so you can chain together these functions
+  return *this;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> Matrix<rows, columns>::
+operator+(const Matrix<rows, columns> &other) const {
+  Matrix<rows, columns> buffer{};
+  this->Add(other, buffer);
+  return buffer;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> Matrix<rows, columns>::
+operator-(const Matrix<rows, columns> &other) const {
+  Matrix<rows, columns> buffer{};
+  this->Sub(other, buffer);
+  return buffer;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> Matrix<rows, columns>::
+operator*(const Matrix<rows, columns> &other) const {
+  Matrix<rows, columns> buffer{};
+  this->Mult(other, buffer);
+  return buffer;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> Matrix<rows, columns>::operator*(float scalar) const {
+  Matrix<rows, columns> buffer{};
+  this->Mult(scalar, buffer);
+  return buffer;
+}
+
+template <uint8_t rows, uint8_t columns>
+template <uint8_t vector_size>
+float Matrix<rows, columns>::dotProduct(const Matrix<1, vector_size> &vec1,
+                                        const Matrix<1, vector_size> &vec2) {
+  float sum{0};
+  for (uint8_t i{0}; i < vector_size; i++) {
+    sum += vec1.Get(0, i) * vec2.Get(0, i);
+  }
+
+  return sum;
+}
+
+template <uint8_t rows, uint8_t columns>
+template <uint8_t vector_size>
+float Matrix<rows, columns>::dotProduct(const Matrix<vector_size, 1> &vec1,
+                                        const Matrix<vector_size, 1> &vec2) {
+  float sum{0};
+  for (uint8_t i{0}; i < vector_size; i++) {
+    sum += vec1.Get(i, 0) * vec2.Get(i, 0);
+  }
+
+  return sum;
+}
+
+template <uint8_t rows, uint8_t columns>
+void Matrix<rows, columns>::Fill(float value) {
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      this->matrix[row_idx][column_idx] = value;
+    }
+  }
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::MatrixOfMinors(Matrix<rows, columns> &result) const {
+  Matrix<rows - 1, columns - 1> MinorMatrix{};
+
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      this->MinorMatrix(MinorMatrix, row_idx, column_idx);
+      result[row_idx][column_idx] = MinorMatrix.Det();
+    }
+  }
+
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows - 1, columns - 1> &
+Matrix<rows, columns>::MinorMatrix(Matrix<rows - 1, columns - 1> &result,
+                                   uint8_t row_idx, uint8_t column_idx) const {
+  std::array<float, (rows - 1) * (columns - 1)> subArray{};
+  uint16_t array_idx{0};
+  for (uint8_t row_iter{0}; row_iter < rows; row_iter++) {
+    if (row_iter == row_idx) {
+      continue;
+    }
+    for (uint8_t column_iter{0}; column_iter < columns; column_iter++) {
+      if (column_iter == column_idx) {
+        continue;
+      }
+      subArray[array_idx] = this->Get(row_iter, column_iter);
+      array_idx++;
+    }
+  }
+
+  result = Matrix<rows - 1, columns - 1>{subArray};
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::adjugate(Matrix<rows, columns> &result) const {
+  for (uint8_t row_iter{0}; row_iter < rows; row_iter++) {
+    for (uint8_t column_iter{0}; column_iter < columns; column_iter++) {
+      float sign = ((row_iter + 1) % 2) == 0 ? -1 : 1;
+      sign *= ((column_iter + 1) % 2) == 0 ? -1 : 1;
+      result[column_iter][row_iter] = this->Get(row_iter, column_iter) * sign;
+    }
+  }
+
+  return result;
+}
+
+template <uint8_t rows, uint8_t columns>
+Matrix<rows, columns> &
+Matrix<rows, columns>::Normalize(Matrix<rows, columns> &result) const {
+  float sum{0};
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      float val{this->Get(row_idx, column_idx)};
+      sum += val * val;
+    }
+  }
+
+  if (sum == 0) {
+    // this wouldn't do anything anyways
+    result.Fill(1e+6);
+    return result;
+  }
+
+  sum = sqrt(sum);
+
+  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
+    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
+      result[row_idx][column_idx] = this->Get(row_idx, column_idx) / sum;
+    }
+  }
+
+  return result;
+}
+
+#endif // MATRIX_H_
\ No newline at end of file
diff --git a/Matrix.hpp b/Matrix.hpp
index d70b892..54c9c1a 100644
--- a/Matrix.hpp
+++ b/Matrix.hpp
@@ -1,10 +1,8 @@
-#pragma once
+#ifndef MATRIX_H_
+#define MATRIX_H_
 
 #include <array>
-#include <cmath>
 #include <cstdint>
-#include <cstdlib>
-#include <type_traits>
 
 // TODO: Add a function to calculate eigenvalues/vectors
 // TODO: Add a function to compute RREF
@@ -204,433 +202,6 @@ private:
   std::array<std::array<float, columns>, rows> matrix;
 };
 
-template <uint8_t rows, uint8_t columns>
-void Matrix<rows, columns>::setMatrixToArray(
-    const std::array<float, rows * columns> &array) {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      uint16_t array_idx =
-          static_cast<uint16_t>(row_idx) * static_cast<uint16_t>(columns) +
-          static_cast<uint16_t>(column_idx);
-      if (array_idx < array.size()) {
-        this->matrix[row_idx][column_idx] = array[array_idx];
-      } else {
-        this->matrix[row_idx][column_idx] = 0;
-      }
-    }
-  }
-}
+#include "Matrix.cpp"
 
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns>::Matrix(float value) {
-  this->Fill(value);
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns>::Matrix(const std::array<float, rows * columns> &array) {
-  this->setMatrixToArray(array);
-}
-
-// template <uint8_t rows, uint8_t columns>
-// template <typename... Args>
-// Matrix<rows, columns>::Matrix(Args&&... args){
-
-//   // Initialize a std::array with the arguments
-//   if(typeid(args) == typeid(std::array<float, 4>)){
-//     this->setMatrixToArray(args);
-//   }
-//   else{
-//     std::array<float, rows*columns> values = {static_cast<float>(args)...};
-
-//     // now store the array in our internal matrix
-//     this->setMatrixToArray(values);
-//   }
-
-// }
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns>::Matrix(const Matrix<rows, columns> &other) {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      this->matrix[row_idx][column_idx] = other.Get(row_idx, column_idx);
-    }
-  }
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::Add(const Matrix<rows, columns> &other,
-                           Matrix<rows, columns> &result) const {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      result[row_idx][column_idx] =
-          this->Get(row_idx, column_idx) + other.Get(row_idx, column_idx);
-    }
-  }
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::Sub(const Matrix<rows, columns> &other,
-                           Matrix<rows, columns> &result) const {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      result[row_idx][column_idx] =
-          this->Get(row_idx, column_idx) - other.Get(row_idx, column_idx);
-    }
-  }
-
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-template <uint8_t other_columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::Mult(const Matrix<columns, other_columns> &other,
-                            Matrix<rows, other_columns> &result) const {
-  // allocate some buffers for all of our dot products
-  Matrix<1, columns> this_row;
-  Matrix<rows, 1> other_column;
-  Matrix<1, rows> other_column_t;
-
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    // get our row
-    this->GetRow(row_idx, this_row);
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      // get the other matrix'ss column
-      other.GetColumn(column_idx, other_column);
-      // transpose the other matrix's column
-      other_column.Transpose(other_column_t);
-
-      // the result's index is equal to the dot product of these two vectors
-      result[row_idx][column_idx] =
-          Matrix<rows, columns>::dotProduct(this_row, other_column_t);
-    }
-  }
-
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::Mult(float scalar, Matrix<rows, columns> &result) const {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      result[row_idx][column_idx] = this->Get(row_idx, column_idx) * scalar;
-    }
-  }
-
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::Invert(Matrix<rows, columns> &result) const {
-  // since all matrix sizes have to be statically specified at compile time we
-  // can do this
-  static_assert(rows == columns,
-                "Your matrix isn't square and can't be inverted");
-
-  // unfortunately we can't calculate this at compile time so we'll just reurn
-  // zeros
-  float determinant{this->Det()};
-  if (determinant == 0) {
-    // you can't invert a matrix with a negative determinant
-    result.Fill(0);
-    return result;
-  }
-
-  // TODO: This algorithm is really inneficient because of the matrix of minors.
-  // We should make a different algorithm how to calculate the inverse:
-  // https://www.mathsisfun.com/algebra/matrix-inverse-minors-cofactors-adjugate.html
-
-  // calculate the matrix of minors
-  Matrix<rows, columns> minors{};
-  this->MatrixOfMinors(minors);
-
-  // now adjugate the matrix and save it in our output
-  minors.adjugate(result);
-
-  // scale the result by 1/determinant and we have our answer
-  result = result * (1 / determinant);
-  // result.Mult(1 / determinant, result);
-
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<columns, rows> &
-Matrix<rows, columns>::Transpose(Matrix<columns, rows> &result) const {
-  for (uint8_t column_idx{0}; column_idx < rows; column_idx++) {
-    for (uint8_t row_idx{0}; row_idx < columns; row_idx++) {
-      result[row_idx][column_idx] = this->Get(column_idx, row_idx);
-    }
-  }
-
-  return result;
-}
-
-// explicitly define the determinant for a 2x2 matrix because it is definitely
-// the fastest way to calculate a 2x2 matrix determinant
-template <> float Matrix<0, 0>::Det() const { return 1e+6; }
-template <> float Matrix<1, 1>::Det() const { return this->matrix[0][0]; }
-template <> float Matrix<2, 2>::Det() const {
-  return this->matrix[0][0] * this->matrix[1][1] -
-         this->matrix[0][1] * this->matrix[1][0];
-}
-
-template <uint8_t rows, uint8_t columns>
-float Matrix<rows, columns>::Det() const {
-  static_assert(rows == columns,
-                "You can't take the determinant of a non-square matrix.");
-
-  Matrix<rows - 1, columns - 1> MinorMatrix{};
-  float determinant{0};
-  for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-    // for odd indices the sign is negative
-    float sign = (column_idx % 2 == 0) ? 1 : -1;
-    determinant += sign * this->matrix[0][column_idx] *
-                   this->MinorMatrix(MinorMatrix, 0, column_idx).Det();
-  }
-
-  return determinant;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::ElementMultiply(const Matrix<rows, columns> &other,
-                                       Matrix<rows, columns> &result) const {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      result[row_idx][column_idx] =
-          this->Get(row_idx, column_idx) * other.Get(row_idx, column_idx);
-    }
-  }
-
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::ElementDivide(const Matrix<rows, columns> &other,
-                                     Matrix<rows, columns> &result) const {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      result[row_idx][column_idx] =
-          this->Get(row_idx, column_idx) / other.Get(row_idx, column_idx);
-    }
-  }
-
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-float Matrix<rows, columns>::Get(uint8_t row_index,
-                                 uint8_t column_index) const {
-  if (row_index > rows - 1 || column_index > columns - 1) {
-    return 1e+10; // TODO: We should throw something here instead of failing
-                  // quietly
-  }
-  return this->matrix[row_index][column_index];
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<1, columns> &
-Matrix<rows, columns>::GetRow(uint8_t row_index,
-                              Matrix<1, columns> &row) const {
-  row = Matrix<1, columns>(this->matrix[row_index]);
-
-  return row;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, 1> &
-Matrix<rows, columns>::GetColumn(uint8_t column_index,
-                                 Matrix<rows, 1> &column) const {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    column[row_idx][0] = this->Get(row_idx, column_index);
-  }
-
-  return column;
-}
-
-template <uint8_t rows, uint8_t columns>
-void Matrix<rows, columns>::ToString(std::string &stringBuffer) const {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    stringBuffer += "|";
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      stringBuffer += std::to_string(this->matrix[row_idx][column_idx]);
-      if (column_idx != columns - 1) {
-        stringBuffer += "\t";
-      }
-    }
-    stringBuffer += "|\n";
-  }
-}
-
-template <uint8_t rows, uint8_t columns>
-std::array<float, columns> &Matrix<rows, columns>::
-operator[](uint8_t row_index) {
-  if (row_index > rows - 1) {
-    return this->matrix[0]; // TODO: We should throw something here instead of
-                            // failing quietly.
-  }
-  return this->matrix[row_index];
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &Matrix<rows, columns>::
-operator=(const Matrix<rows, columns> &other) {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      this->matrix[row_idx][column_idx] = other.Get(row_idx, column_idx);
-    }
-  }
-  // return a reference to ourselves so you can chain together these functions
-  return *this;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> Matrix<rows, columns>::
-operator+(const Matrix<rows, columns> &other) const {
-  Matrix<rows, columns> buffer{};
-  this->Add(other, buffer);
-  return buffer;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> Matrix<rows, columns>::
-operator-(const Matrix<rows, columns> &other) const {
-  Matrix<rows, columns> buffer{};
-  this->Sub(other, buffer);
-  return buffer;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> Matrix<rows, columns>::
-operator*(const Matrix<rows, columns> &other) const {
-  Matrix<rows, columns> buffer{};
-  this->Mult(other, buffer);
-  return buffer;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> Matrix<rows, columns>::operator*(float scalar) const {
-  Matrix<rows, columns> buffer{};
-  this->Mult(scalar, buffer);
-  return buffer;
-}
-
-template <uint8_t rows, uint8_t columns>
-template <uint8_t vector_size>
-float Matrix<rows, columns>::dotProduct(const Matrix<1, vector_size> &vec1,
-                                        const Matrix<1, vector_size> &vec2) {
-  float sum{0};
-  for (uint8_t i{0}; i < vector_size; i++) {
-    sum += vec1.Get(0, i) * vec2.Get(0, i);
-  }
-
-  return sum;
-}
-
-template <uint8_t rows, uint8_t columns>
-template <uint8_t vector_size>
-float Matrix<rows, columns>::dotProduct(const Matrix<vector_size, 1> &vec1,
-                                        const Matrix<vector_size, 1> &vec2) {
-  float sum{0};
-  for (uint8_t i{0}; i < vector_size; i++) {
-    sum += vec1.Get(i, 0) * vec2.Get(i, 0);
-  }
-
-  return sum;
-}
-
-template <uint8_t rows, uint8_t columns>
-void Matrix<rows, columns>::Fill(float value) {
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      this->matrix[row_idx][column_idx] = value;
-    }
-  }
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::MatrixOfMinors(Matrix<rows, columns> &result) const {
-  Matrix<rows - 1, columns - 1> MinorMatrix{};
-
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      this->MinorMatrix(MinorMatrix, row_idx, column_idx);
-      result[row_idx][column_idx] = MinorMatrix.Det();
-    }
-  }
-
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows - 1, columns - 1> &
-Matrix<rows, columns>::MinorMatrix(Matrix<rows - 1, columns - 1> &result,
-                                   uint8_t row_idx, uint8_t column_idx) const {
-  std::array<float, (rows - 1) * (columns - 1)> subArray{};
-  uint16_t array_idx{0};
-  for (uint8_t row_iter{0}; row_iter < rows; row_iter++) {
-    if (row_iter == row_idx) {
-      continue;
-    }
-    for (uint8_t column_iter{0}; column_iter < columns; column_iter++) {
-      if (column_iter == column_idx) {
-        continue;
-      }
-      subArray[array_idx] = this->Get(row_iter, column_iter);
-      array_idx++;
-    }
-  }
-
-  result = Matrix<rows - 1, columns - 1>{subArray};
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::adjugate(Matrix<rows, columns> &result) const {
-  for (uint8_t row_iter{0}; row_iter < rows; row_iter++) {
-    for (uint8_t column_iter{0}; column_iter < columns; column_iter++) {
-      float sign = ((row_iter + 1) % 2) == 0 ? -1 : 1;
-      sign *= ((column_iter + 1) % 2) == 0 ? -1 : 1;
-      result[column_iter][row_iter] = this->Get(row_iter, column_iter) * sign;
-    }
-  }
-
-  return result;
-}
-
-template <uint8_t rows, uint8_t columns>
-Matrix<rows, columns> &
-Matrix<rows, columns>::Normalize(Matrix<rows, columns> &result) const {
-  float sum{0};
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      float val{this->Get(row_idx, column_idx)};
-      sum += val * val;
-    }
-  }
-
-  if (sum == 0) {
-    // this wouldn't do anything anyways
-    result.Fill(1e+6);
-    return result;
-  }
-
-  sum = sqrt(sum);
-
-  for (uint8_t row_idx{0}; row_idx < rows; row_idx++) {
-    for (uint8_t column_idx{0}; column_idx < columns; column_idx++) {
-      result[row_idx][column_idx] = this->Get(row_idx, column_idx) / sum;
-    }
-  }
-
-  return result;
-}
\ No newline at end of file
+#endif // MATRIX_H_
\ No newline at end of file