/*************************************************************************

 *                                                                       *

 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

 *                                                                       *

 * This library is free software; you can redistribute it and/or         *

 * modify it under the terms of EITHER:                                  *

 *   (1) The GNU Lesser General Public License as published by the Free  *

 *       Software Foundation; either version 2.1 of the License, or (at  *

 *       your option) any later version. The text of the GNU Lesser      *

 *       General Public License is included with this library in the     *

 *       file LICENSE.TXT.                                               *

 *   (2) The BSD-style license that is included with this library in     *

 *       the file LICENSE-BSD.TXT.                                       *

 *                                                                       *

 * This library is distributed in the hope that it will be useful,       *

 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

 *                                                                       *

 *************************************************************************/

// matrix class. this is mostly for convenience in the testing code, it is

// not optimized at all. correctness is much more importance here.

#ifndef _ODE_MAT_H_

#define _ODE_MAT_H_

#include <ode/common.h>

class dMatrix {

  int n,m;		// matrix dimension, n,m >= 0

  dReal *data;		// if nonzero, n*m elements allocated on the heap

public:

  // constructors, destructors

  dMatrix();				// make default 0x0 matrix

  dMatrix (int rows, int cols);		// construct zero matrix of given size

  dMatrix (const dMatrix &);		// construct copy of given matrix

  // create copy of given data - element (i,j) is data[i*rowskip+j*colskip]

  dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);

  ~dMatrix();				// destructor

  // data movement

  dReal & operator () (int i, int j);	// reference an element

  void operator= (const dMatrix &);	// matrix = matrix

  void operator= (dReal);		// matrix = scalar

  dMatrix transpose();			// return transposed matrix

  // return a permuted submatrix of this matrix, made up of the rows in p

  // and the columns in q. p has np elements, q has nq elements.

  dMatrix select (int np, int *p, int nq, int *q);

  // operators

  dMatrix operator + (const dMatrix &);

  dMatrix operator - (const dMatrix &);

  dMatrix operator - ();

  dMatrix operator * (const dMatrix &);

  void operator += (const dMatrix &);

  void operator -= (const dMatrix &);

  // utility

  void clearUpperTriangle();

  void clearLowerTriangle();

  void makeRandom (dReal range);

  void print (char *fmt = "%10.4f ", FILE *f=stdout);

  dReal maxDifference (const dMatrix &);

};

#endif