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6f4fca7efbf51a818d7ec63eab121ec5675b2376
solver/OndselSolver/FullMatrix.cpp
PaddleStroke 6f4fca7efb Werner compil warning (#32) 
* Replace int by size_t in for loops.

* Various dtor missing and some other warning fixes.

* fixed size_t vs int

* fixed size_t vs int

---------

Co-authored-by: Paddle <PaddleStroke@users.noreply.github.com>
Co-authored-by: Aik-Siong Koh <askoh@askoh.com>
2023-11-16 13:32:13 -07:00

685 lines
23 KiB
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "FullMatrix.h"
#include "FullColumn.h"
#include "FullRow.h"
#include "DiagonalMatrix.h"
#include "EulerParameters.h"
namespace MbD {
FColsptr<double> FullMatrixDouble::timesFullColumn(FColsptr<double> fullCol)
{
return this->timesFullColumn(fullCol.get());
// auto nrow = this->nrow();
// auto answer = std::make_shared<FullColumn<double>>(nrow);
// for (int i = 0; i < nrow; i++)
// {
// answer->at(i) = this->at(i)->timesFullColumn(fullCol);
// }
// return answer;
}
FColsptr<double> FullMatrixDouble::timesFullColumn(FullColumn<double>* fullCol) // local
{
//"a*b = a(i,j)b(j) sum j."
auto nrow = this->nrow();
auto answer = std::make_shared<FullColumn<double>>(nrow);
for (int i = 0; i < nrow; i++)
{
answer->at(i) = this->at(i)->timesFullColumn(fullCol);
}
return answer;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatex(double the)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto rotMat = std::make_shared<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatey(double the)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto rotMat = std::make_shared<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatez(double the)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto rotMat = std::make_shared<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatexrotDot(double the, double thedot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto rotMat = std::make_shared<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotateyrotDot(double the, double thedot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto rotMat = std::make_shared<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatezrotDot(double the, double thedot)
{
auto sthe = std::sin(the);
auto cthe = std::cos(the);
auto sthedot = cthe * thedot;
auto cthedot = -sthe * thedot;
auto rotMat = std::make_shared<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatexrotDotrotDDot(double the, double thedot, double 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<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotateyrotDotrotDDot(double the, double thedot, double 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<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatezrotDotrotDDot(double the, double thedot, double 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<FullMatrixDouble>(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;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::identitysptr(int n)
{
auto mat = std::make_shared<FullMatrixDouble>(n, n);
mat->identity();
return mat;
}
std::shared_ptr<MbD::FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::identitysptr(int n)
{
auto mat = std::make_shared<FullMatrixFullMatrixDouble>(n, n);
mat->identity();
return mat;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::tildeMatrix(FColDsptr col)
{
//"tildeMatrix is skew symmetric matrix related to angular velocity and cross product."
if (col->size() != 3) throw std::runtime_error("Column is not of dimension 3");
auto tilde = std::make_shared<FullMatrixDouble>(3, 3);
auto c0 = col->at(0);
auto c1 = col->at(1);
auto c2 = col->at(2);
tilde->atijput(0, 0, 0.0);
tilde->atijput(1, 1, 0.0);
tilde->atijput(2, 2, 0.0);
tilde->atijput(1, 2, -c0);
tilde->atijput(0, 2, c1);
tilde->atijput(0, 1, -c2);
tilde->atijput(1, 0, c2);
tilde->atijput(2, 0, -c1);
tilde->atijput(2, 1, c0);
return tilde;
}
void FullMatrixDouble::zeroSelf()
{
for (size_t i = 0; i < this->size(); i++) {
this->at(i)->zeroSelf();
}
}
void FullMatrixFullMatrixDouble::zeroSelf()
{
for (size_t i = 0; i < this->size(); i++) {
this->at(i)->zeroSelf();
}
}
void FullMatrixFullColumnDouble::zeroSelf()
{
for (size_t i = 0; i < this->size(); i++) {
this->at(i)->zeroSelf();
}
}
void FullMatrixDouble::identity() {
this->zeroSelf();
for (size_t i = 0; i < this->size(); i++) {
this->at(i)->at(i) = 1.0;
}
}
void FullMatrixFullMatrixDouble::identity() {
assert(false);
// this->zeroSelf();
// for (size_t i = 0; i < this->size(); i++) {
// this->at(i)->at(i) = 1.0;
// }
}
// TODO: should there be a FullMatrixFullColumnDouble version of this?
FColsptr<double> FullMatrixDouble::column(int j) {
int n = (int)this->size();
auto answer = std::make_shared<FullColumn<double>>(n);
for (int i = 0; i < n; i++) {
answer->at(i) = this->at(i)->at(j);
}
return answer;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
{
int m = this->nrow();
auto answer = std::make_shared<FullMatrixDouble>(m);
for (int i = 0; i < m; i++) {
answer->at(i) = this->at(i)->timesFullMatrix(fullMat);
}
return answer;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
{
int nrow = this->nrow();
auto answer = std::make_shared<FullMatrixDouble>(nrow);
for (int i = 0; i < nrow; i++) {
answer->at(i) = this->at(i)->timesTransposeFullMatrix(fullMat);
}
return answer;
}
// std::shared_ptr<FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::timesTransposeFullMatrix(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat)
// {
// int nrow = this->nrow();
// auto answer = std::make_shared<FullMatrixFullMatrixDouble>(nrow);
// for (int i = 0; i < nrow; i++) {
// answer->at(i) = this->at(i)->timesTransposeFullMatrixForFMFMDsptr(fullMat);
// }
// return answer;
// }
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::times(double a)
{
int m = this->nrow();
auto answer = std::make_shared<FullMatrixDouble>(m);
for (int i = 0; i < m; i++) {
// auto x = this->at(i);
answer->at(i) = this->at(i)->times(a);
}
return answer;
}
std::shared_ptr<FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::times(double a)
{
// TODO: correct action?
assert(false);
return std::make_shared<FullMatrixFullMatrixDouble>();
}
std::shared_ptr<FullMatrixFullColumnDouble> FullMatrixFullColumnDouble::times(double a)
{
// TODO: correct action?
assert(false);
return std::make_shared<FullMatrixFullColumnDouble>();
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::transposeTimesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
{
return this->transpose()->timesFullMatrix(fullMat);
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::plusFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
{
int n = (int)this->size();
auto answer = std::make_shared<FullMatrixDouble>(n);
for (int i = 0; i < n; i++) {
answer->at(i) = this->at(i)->plusFullRow(fullMat->at(i));
}
return answer;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::minusFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
{
int n = (int)this->size();
auto answer = std::make_shared<FullMatrixDouble>(n);
for (int i = 0; i < n; i++) {
answer->at(i) = this->at(i)->minusFullRow(fullMat->at(i));
}
return answer;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::transpose() {
int nrow = this->nrow();
auto ncol = this->ncol();
auto answer = std::make_shared<FullMatrixDouble>(ncol, nrow);
for (int i = 0; i < nrow; i++) {
auto& row = this->at(i);
for (int j = 0; j < ncol; j++) {
answer->at(j)->at(i) = row->at(j);
}
}
return answer;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::negated()
{
return this->times(-1.0);
}
void FullMatrixDouble::symLowerWithUpper()
{
int n = (int)this->size();
for (int i = 0; i < n; i++) {
for (int j = i + 1; j < n; j++) {
this->at(j)->at(i) = this->at(i)->at(j);
}
}
}
void FullMatrixFullColumnDouble::symLowerWithUpper()
{
int n = (int)this->size();
for (int i = 0; i < n; i++) {
for (int j = i + 1; j < n; j++) {
this->at(j)->at(i) = this->at(i)->at(j);
}
}
}
void FullMatrixDouble::atiput(int i, FRowsptr<double> fullRow)
{
this->at(i) = fullRow;
}
void FullMatrixDouble::atijput(int i, int j, double value)
{
this->at(i)->atiput(j, value);
}
void FullMatrixDouble::atijputFullColumn(int i1, int j1, FColsptr<double> fullCol)
{
for (size_t ii = 0; ii < fullCol->size(); ii++)
{
this->at(i1 + ii)->at(j1) = fullCol->at(ii);
}
}
void FullMatrixDouble::atijplusFullRow(int i, int j, FRowsptr<double> fullRow)
{
this->at(i)->atiplusFullRow(j, fullRow);
}
void FullMatrixDouble::atijplusNumber(int i, int j, double value)
{
auto rowi = this->at(i);
rowi->at(j) += value;
}
void FullMatrixDouble::atijminusNumber(int i, int j, double value)
{
auto rowi = this->at(i);
rowi->at(j) -= value;
}
double FullMatrixDouble::sumOfSquares()
{
double sum = 0.0;
for (size_t i = 0; i < this->size(); i++)
{
sum += this->at(i)->sumOfSquares();
}
return sum;
}
double FullMatrixFullMatrixDouble::sumOfSquares()
{
double sum = 0.0;
for (size_t i = 0; i < this->size(); i++)
{
sum += this->at(i)->sumOfSquares();
}
return sum;
}
double FullMatrixFullColumnDouble::sumOfSquares()
{
double sum = 0.0;
for (size_t i = 0; i < this->size(); i++)
{
sum += this->at(i)->sumOfSquares();
}
return sum;
}
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::copy()
{
auto m = (int)this->size();
auto answer = std::make_shared<FullMatrixDouble>(m);
for (int i = 0; i < m; i++)
{
answer->at(i) = this->at(i)->copy();
}
return answer;
}
FullMatrixDouble FullMatrixDouble::operator+(const FullMatrixDouble fullMat)
{
int n = (int)this->size();
FullMatrixDouble answer(n);
for (int i = 0; i < n; i++) {
answer.at(i) = this->at(i)->plusFullRow(fullMat.at(i));
}
return answer;
}
FColsptr<double> FullMatrixDouble::transposeTimesFullColumn(FColsptr<double> fullCol)
{
auto sptr = std::make_shared<FullMatrixDouble>(*this);
return fullCol->transpose()->timesFullMatrix(sptr)->transpose();
}
void FullMatrixDouble::magnifySelf(double factor)
{
for (size_t i = 0; i < this->size(); i++) {
this->at(i)->magnifySelf(factor);
}
}
std::ostream& FullMatrixDouble::printOn(std::ostream& s) const
{
s << "FullMat[" << std::endl;
for (size_t i = 0; i < this->size(); i++)
{
s << *(this->at(i)) << std::endl;
}
s << "]";
return s;
}
std::shared_ptr<EulerParameters<double>> FullMatrixDouble::asEulerParameters()
{
//"Given [A], compute Euler parameter."
auto traceA = this->trace();
double dum = 0.0;
double 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<double>>(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);
double 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;
}
double FullMatrixDouble::trace()
{
double trace = 0.0;
for (size_t i = 0; i < this->size(); i++)
{
trace += this->at(i)->at(i);
}
return trace;
}
double FullMatrixDouble::maxMagnitude()
{
double max = 0.0;
for (size_t i = 0; i < this->size(); i++)
{
double element = this->at(i)->maxMagnitude();
if (max < element) max = element;
}
return max;
}
double FullMatrixFullMatrixDouble::maxMagnitude()
{
double max = 0.0;
for (size_t i = 0; i < this->size(); i++)
{
double element = this->at(i)->maxMagnitude();
if (max < element) max = element;
}
return max;
}
double FullMatrixFullColumnDouble::maxMagnitude()
{
double max = 0.0;
for (size_t i = 0; i < this->size(); i++)
{
double element = this->at(i)->maxMagnitude();
if (max < element) max = element;
}
return max;
}
FColsptr<double> FullMatrixDouble::bryantAngles()
{
auto answer = std::make_shared<FullColumn<double>>(3);
auto sthe1y = this->at(0)->at(2);
double 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;
}
bool FullMatrixDouble::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;
}
bool FullMatrixDouble::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;
}
}
std::shared_ptr<DiagonalMatrix> FullMatrixDouble::asDiagonalMatrix()
{
int nrow = this->nrow();
auto diagMat = std::make_shared<DiagonalMatrix>(nrow);
for (int i = 0; i < nrow; i++)
{
diagMat->atiput(i, this->at(i)->at(i));
}
return diagMat;
}
void FullMatrixDouble::conditionSelfWithTol(double tol)
{
for (auto row : *this) {
row->conditionSelfWithTol(tol);
}
}
}
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