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