1 /* 2 *_________________________________________________________________________* 3 * POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE * 4 * DESCRIPTION: SEE READ-ME * 5 * FILE NAME: mat6x6.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 #ifndef MAT6X6_H 19 #define MAT6X6_H 20 #include "virtualmatrix.h" 21 22 23 class Matrix; 24 class Mat3x3; 25 class Vect6; 26 class Vect3; 27 28 class Mat6x6 : public VirtualMatrix { 29 double elements[6][6]; 30 public: 31 Mat6x6(); 32 ~Mat6x6(); 33 Mat6x6(const Mat6x6& A); // copy constructor 34 Mat6x6(const VirtualMatrix& A); // copy constructor 35 36 double& operator_2int(int i, int j); // array access 37 double Get_2int(int i, int j) const; 38 void Set_2int(int i, int j, double value); 39 double BasicGet_2int(int i, int j) const; 40 void BasicSet_2int(int i, int j, double value); 41 void BasicIncrement_2int(int i, int j, double value); 42 43 void Const(double value); 44 MatrixType GetType() const; 45 46 std::istream& ReadData(std::istream& c); // input 47 std::ostream& WriteData(std::ostream& c) const; // output 48 49 void AssignVM(const VirtualMatrix& A); 50 Mat6x6& operator=(const Mat6x6& A); // assignment operator 51 Mat6x6& operator=(const VirtualMatrix& A); // overloaded = 52 Mat6x6& operator*=(double b); 53 54 Mat6x6& Identity(); 55 56 friend Mat6x6 T(const Mat6x6& A); // a wasteful transpose 57 58 // fast matrix operations 59 friend void FastAdd(Mat6x6& A, Mat6x6& B, Mat6x6& C); 60 friend void FastSubt(Mat6x6& A, Mat6x6& B, Mat6x6& C); 61 friend void FastMultT(Matrix& A, Matrix& B, Mat6x6& C); 62 friend void FastMult(Mat6x6& A, Mat6x6& B, Mat6x6& C); // C = A*B 63 friend void FastMult(Mat6x6& A, Matrix& B, Matrix& C); 64 friend void FastMultT(Mat6x6& A, Mat6x6& B, Mat6x6& C); // C = A*B^T 65 friend void FastTMult(Mat6x6& A, Mat6x6& B, Mat6x6& C); // C = A^T*B 66 friend void FastMult(Mat6x6& A, Vect6& B, Vect6& C); 67 friend void FastTMult(Mat6x6& A, Vect6& B, Vect6& C); 68 friend void FastLDLT(Mat6x6& A, Mat6x6& C); 69 friend void FastLDLTSubs(Mat6x6& LD, Mat6x6& B, Mat6x6& C); 70 friend void FastLDLTSubs(Mat6x6& LD, Vect6& B, Vect6& C); 71 72 friend void OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC); 73 friend void OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI); 74 }; 75 76 #endif 77