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 72