72 lines
3.1 KiB
C++
72 lines
3.1 KiB
C++
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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// matrix class. this is mostly for convenience in the testing code, it is
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// not optimized at all. correctness is much more importance here.
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#ifndef _ODE_MAT_H_
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#define _ODE_MAT_H_
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#include <ode/common.h>
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class dMatrix {
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int n,m; // matrix dimension, n,m >= 0
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dReal *data; // if nonzero, n*m elements allocated on the heap
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public:
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// constructors, destructors
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dMatrix(); // make default 0x0 matrix
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dMatrix (int rows, int cols); // construct zero matrix of given size
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dMatrix (const dMatrix &); // construct copy of given matrix
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// create copy of given data - element (i,j) is data[i*rowskip+j*colskip]
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dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);
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~dMatrix(); // destructor
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// data movement
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dReal & operator () (int i, int j); // reference an element
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void operator= (const dMatrix &); // matrix = matrix
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void operator= (dReal); // matrix = scalar
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dMatrix transpose(); // return transposed matrix
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// return a permuted submatrix of this matrix, made up of the rows in p
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// and the columns in q. p has np elements, q has nq elements.
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dMatrix select (int np, int *p, int nq, int *q);
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// operators
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dMatrix operator + (const dMatrix &);
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dMatrix operator - (const dMatrix &);
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dMatrix operator - ();
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dMatrix operator * (const dMatrix &);
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void operator += (const dMatrix &);
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void operator -= (const dMatrix &);
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// utility
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void clearUpperTriangle();
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void clearLowerTriangle();
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void makeRandom (dReal range);
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void print (char *fmt = "%10.4f ", FILE *f=stdout);
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dReal maxDifference (const dMatrix &);
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};
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#endif
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