class matrix

generic matrix class.

Public Fields

Friend functions and operators

Public Methods

matrix(void)

constructs an uninitialized matrix

matrix(int N)

constructs an NxN matrix but does not initialize its elements

matrix(int Nr, int Nc, int clear = 1)

constructs an Nr x Nc matrix and sets the elements to 0 if clear is 1

matrix(int Nr, int Nc, const double* data)

constructs an Nr x Nc matrix and sets its elements to the values pointed to by data.

matrix(const matrix &other)

copy constructor

matrix(const tmatrix &tm)

copy constructor

matrix(const quaternion &q)

constructor for a 3x3 matrix corresponding to the rotation represented by q

~matrix(void)

destructor

static matrix identity(int N)

returns an N x N identity matrix

inline int nrows(void) const

returns the number of rows in the matrix

inline int ncols(void) const

returns the number of columns in the matrix

inline double& operator()(int r, int c)

returns a reference to element (r, c)

inline double& elem(int r, int c)

returns a reference to element (r, c)

inline double* elem(void)

returns a pointer to the matrix's storage space.

inline double* addr(int r, int c)

returns a pointer to the element at (r, c)

inline double* rowAddr(int row)

returns a pointer to the first element in the indicated row

inline int isSquare(void) const

returns non-zero if the matrix is square, 0 if not

void resize(int newRows, int newCols)

resizes a matrix.

matrix& makeIdentity(void)

sets the matrix to the identity matrix, maintaining current dimensions and assuming the matrix is square

void print(FILE* fp) const

prints the matrix to a file

Row, column, and block operations

int compose(double rx, double ry, double rz)

composes a 3x3 rotation matrix.

int decompose(double &rx, double &ry, double &rz)

decomposes a 3x3 rotation matrix into the rotation angles as specified by matrix::compose.

void transpose(void)

transposes the matrix.

void negate(void)

negates all elements in the matrix

matrix& operator=(int zeroOrOne)

sets a matrix to either the zero matrix or the identity matrix.

matrix& operator=(const matrix &src)

assignment operator

matrix& operator=(const tmatrix &src)

assignment operator.

matrix& operator=(const quaternion &q)

assignment operator.

matrix& operator*=(double d)

scalar multiplication operator

matrix& operator*=(const matrix &src)

matrix multiplication operator; computes (*this)*src

matrix& operator+=(const matrix &src)

addition operator

matrix& operator-=(const matrix &src)

subtraction operator

Documentation

generic matrix class. Matrix elements are stored in row-major form (i.e. the first element in a matrix's array is for (row=0, col=0), the second element in the array is for (row=0, col=1), and so on. Each matrix has a small amount of storage (determined by the constant MATRIX_SPACE) so that small matrices do not require calls to new and delete. Larger matrices allocate and deallocate dynamic memory.

matrix(void)

constructs an uninitialized matrix

matrix(int N)

constructs an NxN matrix but does not initialize its elements

matrix(int Nr, int Nc, int clear = 1)

constructs an Nr x Nc matrix and sets the elements to 0 if clear is 1

matrix(int Nr, int Nc, const double* data)

constructs an Nr x Nc matrix and sets its elements to the values pointed to by data. Data must hold Nr x Nc elements in row-major form.

matrix(const matrix &other)

copy constructor

matrix(const tmatrix &tm)

copy constructor

matrix(const quaternion &q)

constructor for a 3x3 matrix corresponding to the rotation represented by q

~matrix(void)

destructor

static matrix identity(int N)

returns an N x N identity matrix

inline int nrows(void) const

returns the number of rows in the matrix

inline int ncols(void) const

returns the number of columns in the matrix

inline double& operator()(int r, int c)

returns a reference to element (r, c)

inline double& elem(int r, int c)

returns a reference to element (r, c)

inline double* elem(void)

returns a pointer to the matrix's storage space. Note that this space may either be part of the matrix's internal space, or may be dynamically allocated.

inline double* addr(int r, int c)

returns a pointer to the element at (r, c)

inline double* rowAddr(int row)

returns a pointer to the first element in the indicated row

inline int isSquare(void) const

returns non-zero if the matrix is square, 0 if not

void resize(int newRows, int newCols)

resizes a matrix. if the current size is not equal to the new size, then the contents of the matrix will likely be lost.

matrix& makeIdentity(void)

sets the matrix to the identity matrix, maintaining current dimensions and assuming the matrix is square

void print(FILE* fp) const

prints the matrix to a file

Row, column, and block operations

inline void getRow(int r, double* data) const

copies the r'th row into data

inline void getRow(int r, vector &v) const

copies the r'th row into v; assumes v has sufficient space

inline void getCol(int c, double* data) const

copies the c'th col into data

inline void getCol(int c, vector &v) const

copies the c'th col into v; assumes v has sufficient space

inline void setRow(int r, const double* data)

sets the r'th row to the elements pointed to by data

inline void clearRow(int r)

sets the r'th row to zero

inline void clearColumn(int c)

sets the c'th column to zero

inline void setSubRow(int r, int c0, int size, const double* data)

Sets part of a row to the supplied values. 'size' entries starting at column 'c0' in row 'r' are set to the values pointed to by 'data'.

inline void setColumn(int c, const double* data)

sets the c'th column to the elements pointed to by data

inline void setSubColumn(int c, int r0, int size, const double* data)

Sets part of a column to the supplied values. 'size' entries starting at row 'r0' in column 'c' are set to the values pointed to by 'data'.

void setBlock(const matrix &subM, int r, int c)

sets the sub-block starting at (r, c) to subM

void copyBlock(const matrix &M, int destr, int destc, int mr0, int mc0, int mr1, int mc1)

copies the block ([mr0mr1], [mc0mc1]) into M starting at (destr, destc)

void clearBlock(int r, int c, int nr, int nc)

sets an nr by nc block (starting at (r, c)) to zero

int compose(double rx, double ry, double rz)

composes a 3x3 rotation matrix. The matrix is equivalent to the product of three rotation matrices: rotZ(rz)*rotX(rx)*rotY(ry) where rotZ(rz) indicates a rotation about z by rz.

int decompose(double &rx, double &ry, double &rz)

decomposes a 3x3 rotation matrix into the rotation angles as specified by matrix::compose. The matrix must be 3x3.

void transpose(void)

transposes the matrix. Note that if the matrix is not square, some dynamic is temporarily allocated to use as a workspace. If you are concerned about performance, use the two-argument friend function transpose().

void negate(void)

negates all elements in the matrix

matrix& operator=(int zeroOrOne)

sets a matrix to either the zero matrix or the identity matrix. If zeroOrOne is 0, then the matrix will be zeroed; otherwise, it will be set to the identity matrix assuming the matrix is square.

matrix& operator=(const matrix &src)

assignment operator

matrix& operator=(const tmatrix &src)

assignment operator. Creates a 4x4 matrix with elements equal to those of src

matrix& operator=(const quaternion &q)

assignment operator. Creates a 3x3 matrix corresponding to the rotation represented by q.

matrix& operator*=(double d)

scalar multiplication operator

matrix& operator*=(const matrix &src)

matrix multiplication operator; computes (*this)*src

matrix& operator+=(const matrix &src)

addition operator

matrix& operator-=(const matrix &src)

subtraction operator

Friend functions and operators

Friends:

matrix &transpose(matrix &dest, const matrix &src)
matrix transpose(const matrix &src)
int eliminateUnusedDims(matrix &dest, const matrix &src,
int restoreUnusedDims(matrix &dest, const matrix &src,
matrix operator+(matrix &m1, matrix &m2)
matrix operator-(matrix &m1, matrix &m2)
matrix operator*(const matrix &m, double d)
matrix operator*(double d, const matrix &m)
vector operator*(const matrix &m, const vector &v)
vector operator*(const vector &v, const matrix &m)
triple operator*(const matrix &m, const triple &t)
triple operator*(const triple &t, const matrix &m)
int operator==(const matrix &a, const matrix &b)
matrix operator *(const matrix &m1, const matrix &m2)
int mmult(matrix &result, const matrix &a, const matrix &b)
int mmult(matrix &result, const matrix &a, const matrix &b,
int mmultTranspose(matrix &result, const matrix &A, const matrix &B)
int diagMatrixMult(matrix &M, const vector &D)
int outerProduct(matrix &result, const vector &v1, const vector &v2)
int outerProduct(matrix &result, const triple &v1, const triple &v2)
int inverse(matrix &result, const matrix &m,

int* ignoredR

const int* unused

This class has no child classes.

Friends:

tmatrix
triple
vector
quaternion

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