1 /* 2 *_________________________________________________________________________* 3 * POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE * 4 * DESCRIPTION: SEE READ-ME * 5 * FILE NAME: vect6.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 VECT6_H 19 #define VECT6_H 20 21 #include "virtualcolmatrix.h" 22 23 class Matrix; 24 class Mat6x6; 25 class ColMatrix; 26 class Vect3; 27 28 class Vect6 : public VirtualColMatrix { 29 double elements[6]; 30 public: 31 Vect6(); 32 ~Vect6(); 33 Vect6(const Vect6& A); // copy constructor 34 Vect6(const VirtualMatrix& A); // copy constructor 35 36 double& operator_1int (int i); // array access 37 double Get_1int(int i) const; 38 void Set_1int(int i, double value); 39 double BasicGet_1int(int i) const; 40 void BasicSet_1int(int i, double value); 41 void BasicIncrement_1int(int i, double value); 42 43 void Const(double value); 44 MatrixType GetType() const; 45 std::ostream& WriteData(std::ostream& c) const; 46 std::istream& ReadData(std::istream& c); 47 48 void AssignVM(const VirtualMatrix& A); 49 Vect6& operator=(const Vect6& A); // assignment operator 50 Vect6& operator=(const VirtualMatrix& A); // overloaded = 51 Vect6& operator*=(double b); 52 53 friend Matrix T(const Vect6& A); // a wasteful transpose 54 55 friend void Set6DAngularVector(Vect6& v6, Vect3& v3); 56 friend void Set6DLinearVector(Vect6& v6, Vect3& v3); 57 58 // fast matrix operations 59 friend void FastAdd(Vect6& A, Vect6& B, Vect6& C); 60 friend void FastSubt(Vect6& A, Vect6& B, Vect6& C); 61 friend void FastMult(Mat6x6& A, Vect6& B, Vect6& C); 62 friend void FastMult(Matrix& A, ColMatrix& B, Vect6& C); 63 friend void FastTMult(Mat6x6& A, Vect6& B, Vect6& C); 64 friend void FastTMult(Matrix& A, Vect6& B, ColMatrix& C); 65 friend void FastLDLTSubs(Mat6x6& LD, Vect6& B, Vect6& C); 66 67 friend void OnPopulateSVect(Vect3& angular, Vect3& linear, Vect6& sV); 68 }; 69 70 #endif 71