ode/src/mat.h

   1 /*************************************************************************
   2  *                                                                       *
   3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
   4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   5  *                                                                       *
   6  * This library is free software; you can redistribute it and/or         *
   7  * modify it under the terms of EITHER:                                  *
   8  *   (1) The GNU Lesser General Public License as published by the Free  *
   9  *       Software Foundation; either version 2.1 of the License, or (at  *
  10  *       your option) any later version. The text of the GNU Lesser      *
  11  *       General Public License is included with this library in the     *
  12  *       file LICENSE.TXT.                                               *
  13  *   (2) The BSD-style license that is included with this library in     *
  14  *       the file LICENSE-BSD.TXT.                                       *
  15  *                                                                       *
  16  * This library is distributed in the hope that it will be useful,       *
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
  19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
  20  *                                                                       *
  21  *************************************************************************/
  22
  23 // matrix class. this is mostly for convenience in the testing code, it is
  24 // not optimized at all. correctness is of much more importance here.
  25
  26 #ifndef _ODE_MAT_H_
  27 #define _ODE_MAT_H_
  28
  29 #include <ode/common.h>
  30
  31
  32 class dMatrix {
  33     int n,m;            // matrix dimension, n,m >= 0
  34     dReal *data;                // if nonzero, n*m elements allocated on the heap
  35
  36 public:
  37     // constructors, destructors
  38     dMatrix();                          // make default 0x0 matrix
  39     dMatrix (int rows, int cols);               // construct zero matrix of given size
  40     dMatrix (const dMatrix &);          // construct copy of given matrix
  41     // create copy of given data - element (i,j) is data[i*rowskip+j*colskip]
  42     dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);
  43     ~dMatrix();                         // destructor
  44
  45     // data movement
  46     dReal & operator () (int i, int j); // reference an element
  47     void operator= (const dMatrix &);   // matrix = matrix
  48     void operator= (dReal);             // matrix = scalar
  49     dMatrix transpose();                        // return transposed matrix
  50     // return a permuted submatrix of this matrix, made up of the rows in p
  51     // and the columns in q. p has np elements, q has nq elements.
  52     dMatrix select (int np, int *p, int nq, int *q);
  53
  54     // operators
  55     dMatrix operator + (const dMatrix &);
  56     dMatrix operator - (const dMatrix &);
  57     dMatrix operator - ();
  58     dMatrix operator * (const dMatrix &);
  59     void operator += (const dMatrix &);
  60     void operator -= (const dMatrix &);
  61
  62     // utility
  63     void clearUpperTriangle();
  64     void clearLowerTriangle();
  65     void makeRandom (dReal range);
  66     void print (const char *fmt = "%10.4f ", FILE *f=stdout);
  67     dReal maxDifference (const dMatrix &);
  68 };
  69
  70
  71 #endif