Open Dynamics Engine
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00001 /************************************************************************* 00002 * * 00003 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * 00004 * All rights reserved. Email: russ@q12.org Web: www.q12.org * 00005 * * 00006 * This library is free software; you can redistribute it and/or * 00007 * modify it under the terms of EITHER: * 00008 * (1) The GNU Lesser General Public License as published by the Free * 00009 * Software Foundation; either version 2.1 of the License, or (at * 00010 * your option) any later version. The text of the GNU Lesser * 00011 * General Public License is included with this library in the * 00012 * file LICENSE.TXT. * 00013 * (2) The BSD-style license that is included with this library in * 00014 * the file LICENSE-BSD.TXT. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * 00019 * LICENSE.TXT and LICENSE-BSD.TXT for more details. * 00020 * * 00021 *************************************************************************/ 00022 00023 // matrix class. this is mostly for convenience in the testing code, it is 00024 // not optimized at all. correctness is much more importance here. 00025 00026 #ifndef _ODE_MAT_H_ 00027 #define _ODE_MAT_H_ 00028 00029 #include <ode/common.h> 00030 00031 00032 class dMatrix { 00033 int n,m; // matrix dimension, n,m >= 0 00034 dReal *data; // if nonzero, n*m elements allocated on the heap 00035 00036 public: 00037 // constructors, destructors 00038 dMatrix(); // make default 0x0 matrix 00039 dMatrix (int rows, int cols); // construct zero matrix of given size 00040 dMatrix (const dMatrix &); // construct copy of given matrix 00041 // create copy of given data - element (i,j) is data[i*rowskip+j*colskip] 00042 dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip); 00043 ~dMatrix(); // destructor 00044 00045 // data movement 00046 dReal & operator () (int i, int j); // reference an element 00047 void operator= (const dMatrix &); // matrix = matrix 00048 void operator= (dReal); // matrix = scalar 00049 dMatrix transpose(); // return transposed matrix 00050 // return a permuted submatrix of this matrix, made up of the rows in p 00051 // and the columns in q. p has np elements, q has nq elements. 00052 dMatrix select (int np, int *p, int nq, int *q); 00053 00054 // operators 00055 dMatrix operator + (const dMatrix &); 00056 dMatrix operator - (const dMatrix &); 00057 dMatrix operator - (); 00058 dMatrix operator * (const dMatrix &); 00059 void operator += (const dMatrix &); 00060 void operator -= (const dMatrix &); 00061 00062 // utility 00063 void clearUpperTriangle(); 00064 void clearLowerTriangle(); 00065 void makeRandom (dReal range); 00066 void print (char *fmt = "%10.4f ", FILE *f=stdout); 00067 dReal maxDifference (const dMatrix &); 00068 }; 00069 00070 00071 #endif