one more for the gipper

1 files changed, 71 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/src/mat.h b/libraries/ode-0.9/ode/src/mat.h
new file mode 100644
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+/*************************************************************************
+ *                                                                       *
+ * 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