stopping point
This commit is contained in:
John Dupuy
@@ -1,644 +0,0 @@
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/***************************************************************************
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* Copyright (c) 2023 Ondsel, Inc. *
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* *
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* This file is part of OndselSolver. *
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* *
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* See LICENSE file for details about copyright. *
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***************************************************************************/
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#include "FullMatrix.h"
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#include "FullColumn.h"
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#include "FullRow.h"
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#include "DiagonalMatrix.h"
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#include "EulerParameters.h"
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using namespace MbD;
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotatex(T the)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, 1.0);
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row0->atiput(1, 0.0);
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row0->atiput(2, 0.0);
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auto row1 = rotMat->at(1);
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row1->atiput(0, 0.0);
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row1->atiput(1, cthe);
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row1->atiput(2, -sthe);
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auto row2 = rotMat->at(2);
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row2->atiput(0, 0.0);
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row2->atiput(1, sthe);
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row2->atiput(2, cthe);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotatey(T the)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, cthe);
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row0->atiput(1, 0.0);
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row0->atiput(2, sthe);
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auto row1 = rotMat->at(1);
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row1->atiput(0, 0.0);
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row1->atiput(1, 1.0);
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row1->atiput(2, 0.0);
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auto row2 = rotMat->at(2);
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row2->atiput(0, -sthe);
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row2->atiput(1, 0.0);
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row2->atiput(2, cthe);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotatez(T the)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, cthe);
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row0->atiput(1, -sthe);
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row0->atiput(2, 0.0);
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auto row1 = rotMat->at(1);
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row1->atiput(0, sthe);
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row1->atiput(1, cthe);
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row1->atiput(2, 0.0);
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auto row2 = rotMat->at(2);
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row2->atiput(0, 0.0);
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row2->atiput(1, 0.0);
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row2->atiput(2, 1.0);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotatexrotDot(T the, T thedot)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto sthedot = cthe * thedot;
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auto cthedot = -sthe * thedot;
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, 0.0);
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row0->atiput(1, 0.0);
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row0->atiput(2, 0.0);
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auto row1 = rotMat->at(1);
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row1->atiput(0, 0.0);
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row1->atiput(1, cthedot);
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row1->atiput(2, -sthedot);
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auto row2 = rotMat->at(2);
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row2->atiput(0, 0.0);
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row2->atiput(1, sthedot);
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row2->atiput(2, cthedot);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotateyrotDot(T the, T thedot)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto sthedot = cthe * thedot;
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auto cthedot = -sthe * thedot;
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, cthedot);
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row0->atiput(1, 0.0);
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row0->atiput(2, sthedot);
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auto row1 = rotMat->at(1);
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row1->atiput(0, 0.0);
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row1->atiput(1, 0.0);
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row1->atiput(2, 0.0);
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auto row2 = rotMat->at(2);
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row2->atiput(0, -sthedot);
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row2->atiput(1, 0.0);
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row2->atiput(2, cthedot);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotatezrotDot(T the, T thedot)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto sthedot = cthe * thedot;
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auto cthedot = -sthe * thedot;
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, cthedot);
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row0->atiput(1, -sthedot);
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row0->atiput(2, 0.0);
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auto row1 = rotMat->at(1);
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row1->atiput(0, sthedot);
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row1->atiput(1, cthedot);
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row1->atiput(2, 0.0);
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auto row2 = rotMat->at(2);
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row2->atiput(0, 0.0);
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row2->atiput(1, 0.0);
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row2->atiput(2, 0.0);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotatexrotDotrotDDot(T the, T thedot, T theddot)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto sthedot = cthe * thedot;
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auto cthedot = -sthe * thedot;
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auto stheddot = cthedot * thedot + (cthe * theddot);
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auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, 0.0);
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row0->atiput(1, 0.0);
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row0->atiput(2, 0.0);
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auto row1 = rotMat->at(1);
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row1->atiput(0, 0.0);
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row1->atiput(1, ctheddot);
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row1->atiput(2, -stheddot);
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auto row2 = rotMat->at(2);
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row2->atiput(0, 0.0);
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row2->atiput(1, stheddot);
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row2->atiput(2, ctheddot);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotateyrotDotrotDDot(T the, T thedot, T theddot)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto sthedot = cthe * thedot;
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auto cthedot = -sthe * thedot;
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auto stheddot = cthedot * thedot + (cthe * theddot);
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auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, ctheddot);
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row0->atiput(1, 0.0);
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row0->atiput(2, stheddot);
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auto row1 = rotMat->at(1);
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row1->atiput(0, 0.0);
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row1->atiput(1, 0.0);
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row1->atiput(2, 0.0);
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auto row2 = rotMat->at(2);
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row2->atiput(0, -stheddot);
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row2->atiput(1, 0.0);
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row2->atiput(2, ctheddot);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::rotatezrotDotrotDDot(T the, T thedot, T theddot)
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{
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auto sthe = std::sin(the);
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auto cthe = std::cos(the);
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auto sthedot = cthe * thedot;
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auto cthedot = -sthe * thedot;
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auto stheddot = cthedot * thedot + (cthe * theddot);
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auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
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auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
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auto row0 = rotMat->at(0);
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row0->atiput(0, ctheddot);
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row0->atiput(1, -stheddot);
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row0->atiput(2, 0.0);
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auto row1 = rotMat->at(1);
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row1->atiput(0, stheddot);
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row1->atiput(1, ctheddot);
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row1->atiput(2, 0.0);
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auto row2 = rotMat->at(2);
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row2->atiput(0, 0.0);
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row2->atiput(1, 0.0);
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row2->atiput(2, 0.0);
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return rotMat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::identitysptr(int n)
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{
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auto mat = std::make_shared<FullMatrix<T>>(n, n);
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mat->identity();
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return mat;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::tildeMatrix(FColDsptr col)
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{
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//"tildeMatrix is skew symmetric matrix related to angular velocity and cross product."
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if (col->size() != 3) throw std::runtime_error("Column is not of dimension 3");
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auto tilde = std::make_shared<FullMatrix<double>>(3, 3);
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auto c0 = col->at(0);
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auto c1 = col->at(1);
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auto c2 = col->at(2);
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tilde->atijput(0, 0, 0.0);
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tilde->atijput(1, 1, 0.0);
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tilde->atijput(2, 2, 0.0);
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tilde->atijput(1, 2, -c0);
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tilde->atijput(0, 2, c1);
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tilde->atijput(0, 1, -c2);
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tilde->atijput(1, 0, c2);
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tilde->atijput(2, 0, -c1);
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tilde->atijput(2, 1, c0);
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return tilde;
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}
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template<>
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inline void FullMatrix<double>::zeroSelf()
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{
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for (int i = 0; i < this->size(); i++) {
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this->at(i)->zeroSelf();
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}
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}
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template<>
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inline void FullMatrix<double>::identity() {
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this->zeroSelf();
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for (int i = 0; i < this->size(); i++) {
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this->at(i)->at(i) = 1.0;
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}
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}
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template<typename T>
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inline FColsptr<T> FullMatrix<T>::column(int j) {
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int n = (int)this->size();
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auto answer = std::make_shared<FullColumn<T>>(n);
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for (int i = 0; i < n; i++) {
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answer->at(i) = this->at(i)->at(j);
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}
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return answer;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::timesFullMatrix(FMatsptr<T> fullMat)
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{
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int m = this->nrow();
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auto answer = std::make_shared<FullMatrix<T>>(m);
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for (int i = 0; i < m; i++) {
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answer->at(i) = this->at(i)->timesFullMatrix(fullMat);
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}
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return answer;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::timesTransposeFullMatrix(FMatsptr<T> fullMat)
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{
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int nrow = this->nrow();
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auto answer = std::make_shared<FullMatrix<T>>(nrow);
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for (int i = 0; i < nrow; i++) {
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answer->at(i) = this->at(i)->timesTransposeFullMatrix(fullMat);
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}
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return answer;
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}
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template<>
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inline FMatDsptr FullMatrix<double>::times(double a)
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{
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int m = this->nrow();
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auto answer = std::make_shared<FullMatrix<double>>(m);
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for (int i = 0; i < m; i++) {
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answer->at(i) = this->at(i)->times(a);
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}
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return answer;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::times(T a)
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{
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assert(false);
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::transposeTimesFullMatrix(FMatsptr<T> fullMat)
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{
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return this->transpose()->timesFullMatrix(fullMat);
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::plusFullMatrix(FMatsptr<T> fullMat)
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{
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int n = (int)this->size();
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auto answer = std::make_shared<FullMatrix<T>>(n);
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for (int i = 0; i < n; i++) {
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answer->at(i) = this->at(i)->plusFullRow(fullMat->at(i));
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}
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return answer;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::minusFullMatrix(FMatsptr<T> fullMat)
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{
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int n = (int)this->size();
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auto answer = std::make_shared<FullMatrix<T>>(n);
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for (int i = 0; i < n; i++) {
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answer->at(i) = this->at(i)->minusFullRow(fullMat->at(i));
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}
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return answer;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::transpose()
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{
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int nrow = this->nrow();
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auto ncol = this->ncol();
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auto answer = std::make_shared<FullMatrix<T>>(ncol, nrow);
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for (int i = 0; i < nrow; i++) {
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auto& row = this->at(i);
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for (int j = 0; j < ncol; j++) {
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answer->at(j)->at(i) = row->at(j);
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}
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}
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return answer;
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::negated()
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{
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return this->times(-1.0);
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}
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template<typename T>
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inline void FullMatrix<T>::symLowerWithUpper()
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{
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int n = (int)this->size();
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for (int i = 0; i < n; i++) {
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for (int j = i + 1; j < n; j++) {
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this->at(j)->at(i) = this->at(i)->at(j);
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}
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}
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}
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template<typename T>
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inline void FullMatrix<T>::atiput(int i, FRowsptr<T> fullRow)
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{
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this->at(i) = fullRow;
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}
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template<typename T>
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inline void FullMatrix<T>::atijput(int i, int j, T value)
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{
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this->at(i)->atiput(j, value);
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}
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template<typename T>
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inline void FullMatrix<T>::atijputFullColumn(int i1, int j1, FColsptr<T> fullCol)
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{
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for (int ii = 0; ii < fullCol->size(); ii++)
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{
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this->at(i1 + ii)->at(j1) = fullCol->at(ii);
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}
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}
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template<typename T>
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inline void FullMatrix<T>::atijplusFullRow(int i, int j, FRowsptr<T> fullRow)
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{
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this->at(i)->atiplusFullRow(j, fullRow);
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}
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template<typename T>
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inline void FullMatrix<T>::atijplusNumber(int i, int j, T value)
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{
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auto rowi = this->at(i);
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rowi->at(j) += value;
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}
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template<typename T>
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inline void FullMatrix<T>::atijminusNumber(int i, int j, T value)
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{
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auto rowi = this->at(i);
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rowi->at(j) -= value;
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}
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template<>
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inline double FullMatrix<double>::sumOfSquares()
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{
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double sum = 0.0;
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for (int i = 0; i < this->size(); i++)
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{
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sum += this->at(i)->sumOfSquares();
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}
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return sum;
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}
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template<typename T>
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inline double FullMatrix<T>::sumOfSquares()
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{
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assert(false);
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return 0.0;
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}
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template<typename T>
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inline void FullMatrix<T>::zeroSelf()
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{
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assert(false);
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}
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template<typename T>
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inline FMatsptr<T> FullMatrix<T>::copy()
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{
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auto m = (int)this->size();
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auto answer = std::make_shared<FullMatrix<T>>(m);
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for (int i = 0; i < m; i++)
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{
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answer->at(i) = this->at(i)->copy();
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}
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return answer;
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}
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template<typename T>
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inline FullMatrix<T> FullMatrix<T>::operator+(const FullMatrix<T> fullMat)
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{
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int n = (int)this->size();
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auto answer = FullMatrix<T>(n);
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for (int i = 0; i < n; i++) {
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answer.at(i) = this->at(i)->plusFullRow(fullMat.at(i));
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}
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return answer;
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}
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template<typename T>
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inline FColsptr<T> FullMatrix<T>::transposeTimesFullColumn(FColsptr<T> fullCol)
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{
|
||||
auto sptr = std::make_shared<FullMatrix<T>>(*this);
|
||||
return fullCol->transpose()->timesFullMatrix(sptr)->transpose();
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrix<T>::magnifySelf(T factor)
|
||||
{
|
||||
for (int i = 0; i < this->size(); i++) {
|
||||
this->at(i)->magnifySelf(factor);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline std::ostream& FullMatrix<T>::printOn(std::ostream& s) const
|
||||
{
|
||||
s << "FullMat[" << std::endl;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
s << *(this->at(i)) << std::endl;
|
||||
}
|
||||
s << "]";
|
||||
return s;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<EulerParameters<T>> FullMatrix<T>::asEulerParameters()
|
||||
{
|
||||
//"Given [A], compute Euler parameter."
|
||||
|
||||
auto traceA = this->trace();
|
||||
T dum = 0.0;
|
||||
T dumSq = 0.0;
|
||||
//auto qE = CREATE<EulerParameters<double>>::With(4); //Cannot use CREATE.h in subclasses of std::vector. Why?
|
||||
auto qE = std::make_shared<EulerParameters<T>>(4);
|
||||
qE->initialize();
|
||||
auto OneMinusTraceDivFour = (1.0 - traceA) / 4.0;
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
dumSq = this->at(i)->at(i) / 2.0 + OneMinusTraceDivFour;
|
||||
dum = (dumSq > 0.0) ? std::sqrt(dumSq) : 0.0;
|
||||
qE->atiput(i, dum);
|
||||
}
|
||||
dumSq = (1.0 + traceA) / 4.0;
|
||||
dum = (dumSq > 0.0) ? std::sqrt(dumSq) : 0.0;
|
||||
qE->atiput(3, dum);
|
||||
T max = 0.0;
|
||||
int maxE = -1;
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
auto num = qE->at(i);
|
||||
if (max < num) {
|
||||
max = num;
|
||||
maxE = i;
|
||||
}
|
||||
}
|
||||
|
||||
if (maxE == 0) {
|
||||
auto FourE = 4.0 * qE->at(0);
|
||||
qE->atiput(1, (this->at(0)->at(1) + this->at(1)->at(0)) / FourE);
|
||||
qE->atiput(2, (this->at(0)->at(2) + this->at(2)->at(0)) / FourE);
|
||||
qE->atiput(3, (this->at(2)->at(1) - this->at(1)->at(2)) / FourE);
|
||||
}
|
||||
else if (maxE == 1) {
|
||||
auto FourE = 4.0 * qE->at(1);
|
||||
qE->atiput(0, (this->at(0)->at(1) + this->at(1)->at(0)) / FourE);
|
||||
qE->atiput(2, (this->at(1)->at(2) + this->at(2)->at(1)) / FourE);
|
||||
qE->atiput(3, (this->at(0)->at(2) - this->at(2)->at(0)) / FourE);
|
||||
}
|
||||
else if (maxE == 2) {
|
||||
auto FourE = 4.0 * qE->at(2);
|
||||
qE->atiput(0, (this->at(0)->at(2) + this->at(2)->at(0)) / FourE);
|
||||
qE->atiput(1, (this->at(1)->at(2) + this->at(2)->at(1)) / FourE);
|
||||
qE->atiput(3, (this->at(1)->at(0) - this->at(0)->at(1)) / FourE);
|
||||
}
|
||||
else if (maxE == 3) {
|
||||
auto FourE = 4.0 * qE->at(3);
|
||||
qE->atiput(0, (this->at(2)->at(1) - this->at(1)->at(2)) / FourE);
|
||||
qE->atiput(1, (this->at(0)->at(2) - this->at(2)->at(0)) / FourE);
|
||||
qE->atiput(2, (this->at(1)->at(0) - this->at(0)->at(1)) / FourE);
|
||||
}
|
||||
qE->conditionSelf();
|
||||
qE->calc();
|
||||
return qE;
|
||||
}
|
||||
template<typename T>
|
||||
inline T FullMatrix<T>::trace()
|
||||
{
|
||||
T trace = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
trace += this->at(i)->at(i);
|
||||
}
|
||||
return trace;
|
||||
}
|
||||
template<typename T>
|
||||
inline double FullMatrix<T>::maxMagnitude()
|
||||
{
|
||||
double max = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
double element = this->at(i)->maxMagnitude();
|
||||
if (max < element) max = element;
|
||||
}
|
||||
return max;
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullMatrix<T>::bryantAngles()
|
||||
{
|
||||
auto answer = std::make_shared<FullColumn<T>>(3);
|
||||
auto sthe1y = this->at(0)->at(2);
|
||||
T the0x, the1y, the2z, cthe0x, sthe0x, y, x;
|
||||
if (std::abs(sthe1y) > 0.9999) {
|
||||
if (sthe1y > 0.0) {
|
||||
the0x = std::atan2(this->at(1)->at(0), this->at(1)->at(1));
|
||||
the1y = M_PI / 2.0;
|
||||
the2z = 0.0;
|
||||
}
|
||||
else {
|
||||
the0x = std::atan2(this->at(2)->at(1), this->at(2)->at(0));
|
||||
the1y = M_PI / -2.0;
|
||||
the2z = 0.0;
|
||||
}
|
||||
}
|
||||
else {
|
||||
the0x = std::atan2(-this->at(1)->at(2), this->at(2)->at(2));
|
||||
cthe0x = std::cos(the0x);
|
||||
sthe0x = std::sin(the0x);
|
||||
y = sthe1y;
|
||||
if (std::abs(cthe0x) > std::abs(sthe0x)) {
|
||||
x = this->at(2)->at(2) / cthe0x;
|
||||
}
|
||||
else {
|
||||
x = this->at(1)->at(2) / -sthe0x;
|
||||
}
|
||||
the1y = std::atan2(y, x);
|
||||
the2z = std::atan2(-this->at(0)->at(1), this->at(0)->at(0));
|
||||
}
|
||||
answer->atiput(0, the0x);
|
||||
answer->atiput(1, the1y);
|
||||
answer->atiput(2, the2z);
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline bool FullMatrix<T>::isDiagonal()
|
||||
{
|
||||
auto m = this->nrow();
|
||||
auto n = this->ncol();
|
||||
if (m != n) return false;
|
||||
for (int i = 0; i < m; i++)
|
||||
{
|
||||
auto rowi = this->at(i);
|
||||
for (int j = 0; j < n; j++)
|
||||
{
|
||||
if (i != j && rowi->at(j) != 0) return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
template<typename T>
|
||||
inline bool FullMatrix<T>::isDiagonalToWithin(double ratio)
|
||||
{
|
||||
double maxMag = this->maxMagnitude();
|
||||
auto tol = ratio * maxMag;
|
||||
auto nrow = this->nrow();
|
||||
if (nrow == this->ncol()) {
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
for (int j = i + 1; j < 3; j++)
|
||||
{
|
||||
if (std::abs(this->at(i)->at(j)) > tol) return false;
|
||||
if (std::abs(this->at(j)->at(i)) > tol) return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<DiagonalMatrix<T>> FullMatrix<T>::asDiagonalMatrix()
|
||||
{
|
||||
int nrow = this->nrow();
|
||||
auto diagMat = std::make_shared<DiagonalMatrix<T>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
diagMat->atiput(i, this->at(i)->at(i));
|
||||
}
|
||||
return diagMat;
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrix<T>::conditionSelfWithTol(double tol)
|
||||
{
|
||||
for (auto row : *this) {
|
||||
row->conditionSelfWithTol(tol);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullMatrix<T>::timesFullColumn(FColsptr<T> fullCol)
|
||||
{
|
||||
return this->timesFullColumn(fullCol.get());
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullMatrix<T>::timesFullColumn(FullColumn<T>* fullCol)
|
||||
{
|
||||
//"a*b = a(i,j)b(j) sum j."
|
||||
auto nrow = this->nrow();
|
||||
auto answer = std::make_shared<FullColumn<T>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i)->timesFullColumn(fullCol);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user