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

    67   dReal maxDifference (const dMatrix &);

    68 };

    69 

    70 

    71 #endif