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Added reference headers and moved some code.

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This commit is contained in:
John Dupuy
2023-11-02 18:12:13 -05:00
parent dbf1cbdf59
commit ae7ab0c29b
17 changed files with 610 additions and 573 deletions
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239
OndselSolver/FullMatrix.h
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@@ -11,38 +11,14 @@
#include "corecrt_math_defines.h"
#include <memory>
#include "FullRow.h"
#include "FullMatrix.ref.h"
#include "FullColumn.ref.h"
#include "FullRow.ref.h"
#include "DiagonalMatrix.ref.h"
#include "EulerParameters.ref.h"
#include "RowTypeMatrix.h"
#include "FullColumn.h"
namespace MbD {
template<typename T>
class FullMatrix;
using FMatDsptr = std::shared_ptr<FullMatrix<double>>;
template<typename T>
using FMatsptr = std::shared_ptr<FullMatrix<T>>;
template<typename T>
class FullColumn;
using FColDsptr = std::shared_ptr<FullColumn<double>>;
template<typename T>
class FullRow;
template<typename T>
class RowTypeMatrix;
template<typename T>
class EulerParameters;
template<typename T>
class DiagonalMatrix;
using FMatFColDsptr = std::shared_ptr<FullMatrix<FColDsptr>>;
using FMatFMatDsptr = std::shared_ptr<FullMatrix<FMatDsptr>>;
using FColFMatDsptr = std::shared_ptr<FullColumn<FMatDsptr>>;
template<typename T>
class FullMatrix : public RowTypeMatrix<FRowsptr<T>>
@@ -118,210 +94,5 @@ namespace MbD {
std::ostream& printOn(std::ostream& s) const override;
};
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotatex(T the)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, 1.0);
row0->atiput(1, 0.0);
row0->atiput(2, 0.0);
auto row1 = rotMat->at(1);
row1->atiput(0, 0.0);
row1->atiput(1, cthe);
row1->atiput(2, -sthe);
auto row2 = rotMat->at(2);
row2->atiput(0, 0.0);
row2->atiput(1, sthe);
row2->atiput(2, cthe);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotatey(T the)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, cthe);
row0->atiput(1, 0.0);
row0->atiput(2, sthe);
auto row1 = rotMat->at(1);
row1->atiput(0, 0.0);
row1->atiput(1, 1.0);
row1->atiput(2, 0.0);
auto row2 = rotMat->at(2);
row2->atiput(0, -sthe);
row2->atiput(1, 0.0);
row2->atiput(2, cthe);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotatez(T the)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, cthe);
row0->atiput(1, -sthe);
row0->atiput(2, 0.0);
auto row1 = rotMat->at(1);
row1->atiput(0, sthe);
row1->atiput(1, cthe);
row1->atiput(2, 0.0);
auto row2 = rotMat->at(2);
row2->atiput(0, 0.0);
row2->atiput(1, 0.0);
row2->atiput(2, 1.0);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotatexrotDot(T the, T thedot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, 0.0);
row0->atiput(1, 0.0);
row0->atiput(2, 0.0);
auto row1 = rotMat->at(1);
row1->atiput(0, 0.0);
row1->atiput(1, cthedot);
row1->atiput(2, -sthedot);
auto row2 = rotMat->at(2);
row2->atiput(0, 0.0);
row2->atiput(1, sthedot);
row2->atiput(2, cthedot);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotateyrotDot(T the, T thedot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, cthedot);
row0->atiput(1, 0.0);
row0->atiput(2, sthedot);
auto row1 = rotMat->at(1);
row1->atiput(0, 0.0);
row1->atiput(1, 0.0);
row1->atiput(2, 0.0);
auto row2 = rotMat->at(2);
row2->atiput(0, -sthedot);
row2->atiput(1, 0.0);
row2->atiput(2, cthedot);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotatezrotDot(T the, T thedot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, cthedot);
row0->atiput(1, -sthedot);
row0->atiput(2, 0.0);
auto row1 = rotMat->at(1);
row1->atiput(0, sthedot);
row1->atiput(1, cthedot);
row1->atiput(2, 0.0);
auto row2 = rotMat->at(2);
row2->atiput(0, 0.0);
row2->atiput(1, 0.0);
row2->atiput(2, 0.0);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotatexrotDotrotDDot(T the, T thedot, T theddot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto stheddot = cthedot * thedot + (cthe * theddot);
auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, 0.0);
row0->atiput(1, 0.0);
row0->atiput(2, 0.0);
auto row1 = rotMat->at(1);
row1->atiput(0, 0.0);
row1->atiput(1, ctheddot);
row1->atiput(2, -stheddot);
auto row2 = rotMat->at(2);
row2->atiput(0, 0.0);
row2->atiput(1, stheddot);
row2->atiput(2, ctheddot);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotateyrotDotrotDDot(T the, T thedot, T theddot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto stheddot = cthedot * thedot + (cthe * theddot);
auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, ctheddot);
row0->atiput(1, 0.0);
row0->atiput(2, stheddot);
auto row1 = rotMat->at(1);
row1->atiput(0, 0.0);
row1->atiput(1, 0.0);
row1->atiput(2, 0.0);
auto row2 = rotMat->at(2);
row2->atiput(0, -stheddot);
row2->atiput(1, 0.0);
row2->atiput(2, ctheddot);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::rotatezrotDotrotDDot(T the, T thedot, T theddot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto stheddot = cthedot * thedot + (cthe * theddot);
auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
auto rotMat = std::make_shared<FullMatrix<T>>(3, 3);
auto row0 = rotMat->at(0);
row0->atiput(0, ctheddot);
row0->atiput(1, -stheddot);
row0->atiput(2, 0.0);
auto row1 = rotMat->at(1);
row1->atiput(0, stheddot);
row1->atiput(1, ctheddot);
row1->atiput(2, 0.0);
auto row2 = rotMat->at(2);
row2->atiput(0, 0.0);
row2->atiput(1, 0.0);
row2->atiput(2, 0.0);
return rotMat;
}
template<typename T>
inline FMatsptr<T> FullMatrix<T>::identitysptr(int n)
{
auto mat = std::make_shared<FullMatrix<T>>(n, n);
mat->identity();
return mat;
}
}