1 /* 2 *_________________________________________________________________________* 3 * POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE * 4 * DESCRIPTION: SEE READ-ME * 5 * FILE NAME: colmatrix.h * 6 * AUTHORS: See Author List * 7 * GRANTS: See Grants List * 8 * COPYRIGHT: (C) 2005 by Authors as listed in Author's List * 9 * LICENSE: Please see License Agreement * 10 * DOWNLOAD: Free at www.rpi.edu/~anderk5 * 11 * ADMINISTRATOR: Prof. Kurt Anderson * 12 * Computational Dynamics Lab * 13 * Rensselaer Polytechnic Institute * 14 * 110 8th St. Troy NY 12180 * 15 * CONTACT: anderk5@rpi.edu * 16 *_________________________________________________________________________*/ 17 18 19 #ifndef COLMATRIX_H 20 #define COLMATRIX_H 21 22 #include "virtualcolmatrix.h" 23 #include "colmatmap.h" 24 25 class Matrix; 26 class Vect6; 27 class Mat3x3; 28 class Vect3; 29 30 class ColMatrix : public VirtualColMatrix { 31 double* elements; 32 public: 33 ColMatrix(); 34 ~ColMatrix(); 35 ColMatrix(const ColMatrix& A); // copy constructor 36 ColMatrix(const VirtualColMatrix& A); // copy constructor 37 ColMatrix(const VirtualMatrix& A); // copy constructor 38 ColMatrix(int m); // size constructor 39 40 double& operator_1int (int i); // array access 41 double Get_1int(int i) const; 42 void Set_1int(int i, double value); 43 double BasicGet_1int(int i) const; 44 void BasicSet_1int(int i, double value); 45 void BasicIncrement_1int(int i, double value); 46 47 double* GetElementPointer(int i); 48 void Dim(int m); 49 void Const(double value); 50 MatrixType GetType() const; 51 std::istream& ReadData(std::istream& c); 52 std::ostream& WriteData(std::ostream& c) const; 53 54 void AssignVM(const VirtualMatrix& A); 55 ColMatrix& operator=(const ColMatrix& A); // assignment operator 56 ColMatrix& operator=(const VirtualColMatrix& A); // overloaded = 57 ColMatrix& operator=(const VirtualMatrix& A); // overloaded = 58 ColMatrix& operator*=(double b); 59 60 void Abs(); 61 void BasicMax(double& value, int& index); 62 void BasicMin(double& value, int& index); 63 64 // fast matrix operations 65 friend void FastQuaternions(ColMatrix& q, Mat3x3& C); 66 friend void FastInvQuaternions(Mat3x3& C, ColMatrix& q); 67 friend void FastQuaternionDerivatives(ColMatrix& q, ColMatrix& omega, ColMatrix& qdot); 68 friend void FastTMult(Matrix& A, Vect6& B, ColMatrix& C); 69 friend void FastMult(Matrix& A, ColMatrix& B, Vect6& C); 70 friend void FastAssign(ColMatrix& A, ColMatrix& C); 71 72 friend void FastMult(Mat3x3& A, ColMatrix& B, Vect3& C); 73 friend void FastMult(Mat3x3& A, Vect3& B, ColMatrix& C); 74 friend void FastAssign(ColMatrix&A, Vect3& C); 75 76 friend void EP_Derivatives(ColMatrix& q, ColMatrix& u, ColMatrix& qdot); 77 friend void EP_Transformation(ColMatrix& q, Mat3x3& C); 78 friend void EP_FromTransformation(ColMatrix& q, Mat3x3& C); 79 friend void EP_Normalize(ColMatrix& q); 80 friend void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq,ColMatrix& Aqddot); 81 friend void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot); 82 }; 83 84 #endif 85