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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
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