Open Dynamics Engine
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 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
Definition: mat.h:32