649 lines
18 KiB
C++
649 lines
18 KiB
C++
/***************************************************************************
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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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#pragma once
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#include "corecrt_math_defines.h"
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#include <memory>
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#include "RowTypeMatrix.h"
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namespace MbD {
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template<typename T>
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class FullMatrix;
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using FMatDsptr = std::shared_ptr<FullMatrix<double>>;
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template<typename T>
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using FMatsptr = std::shared_ptr<FullMatrix<T>>;
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template<typename T>
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class FullColumn;
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using FColDsptr = std::shared_ptr<FullColumn<double>>;
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template<typename T>
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class FullRow;
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template<typename T>
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class EulerParameters;
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using FMatFColDsptr = std::shared_ptr<FullMatrix<FColDsptr>>;
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using FMatFMatDsptr = std::shared_ptr<FullMatrix<FMatDsptr>>;
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using FColFMatDsptr = std::shared_ptr<FullColumn<FMatDsptr>>;
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template<typename T>
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class FullMatrix : public RowTypeMatrix<FRowsptr<T>>
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{
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public:
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FullMatrix() {}
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FullMatrix(int m) : RowTypeMatrix<FRowsptr<T>>(m)
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{
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}
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FullMatrix(int m, int n) {
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for (int i = 0; i < m; i++) {
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auto row = std::make_shared<FullRow<T>>(n);
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this->push_back(row);
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}
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}
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FullMatrix(std::initializer_list<FRowsptr<T>> listOfRows) {
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for (auto& row : listOfRows)
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{
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this->push_back(row);
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}
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}
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FullMatrix(std::initializer_list<std::initializer_list<T>> list2D) {
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for (auto& rowList : list2D)
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{
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auto row = std::make_shared<FullRow<T>>(rowList);
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this->push_back(row);
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}
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}
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static FMatsptr<T> rotatex(T angle);
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static FMatsptr<T> rotatey(T angle);
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static FMatsptr<T> rotatez(T angle);
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static FMatsptr<T> rotatexrotDot(T angle, T angledot);
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static FMatsptr<T> rotateyrotDot(T angle, T angledot);
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static FMatsptr<T> rotatezrotDot(T angle, T angledot);
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static FMatsptr<T> rotatexrotDotrotDDot(T angle, T angleDot, T angleDDot);
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static FMatsptr<T> rotateyrotDotrotDDot(T angle, T angleDot, T angleDDot);
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static FMatsptr<T> rotatezrotDotrotDDot(T angle, T angleDot, T angleDDot);
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void identity();
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FColsptr<T> column(int j);
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FColsptr<T> timesFullColumn(FColsptr<T> fullCol);
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FColsptr<T> timesFullColumn(FullColumn<T>* fullCol);
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FMatsptr<T> timesFullMatrix(FMatsptr<T> fullMat);
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FMatsptr<T> timesTransposeFullMatrix(FMatsptr<T> fullMat);
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FMatsptr<T> times(T a);
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FMatsptr<T> transposeTimesFullMatrix(FMatsptr<T> fullMat);
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FMatsptr<T> plusFullMatrix(FMatsptr<T> fullMat);
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FMatsptr<T> minusFullMatrix(FMatsptr<T> fullMat);
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FMatsptr<T> transpose();
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FMatsptr<T> negated();
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void symLowerWithUpper();
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void atiput(int i, FRowsptr<T> fullRow);
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void atijput(int i, int j, T value);
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void atijputFullColumn(int i, int j, FColsptr<T> fullCol);
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void atijplusFullRow(int i, int j, FRowsptr<T> fullRow);
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void atijplusNumber(int i, int j, T value);
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void atijminusNumber(int i, int j, T value);
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double sumOfSquares() override;
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void zeroSelf() override;
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FMatsptr<T> copy();
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FullMatrix<T> operator+(const FullMatrix<T> fullMat);
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FColsptr<T> transposeTimesFullColumn(const FColsptr<T> fullCol);
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void magnifySelf(T factor);
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std::shared_ptr<EulerParameters<T>> asEulerParameters();
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T trace();
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double maxMagnitude() override;
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FColsptr<T> bryantAngles();
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std::ostream& printOn(std::ostream& s) const override;
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};
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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<>
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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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{
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auto sptr = std::make_shared<FullMatrix<T>>(*this);
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return fullCol->transpose()->timesFullMatrix(sptr)->transpose();
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}
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template<typename T>
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inline void FullMatrix<T>::magnifySelf(T factor)
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{
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for (int i = 0; i < this->size(); i++) {
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this->at(i)->magnifySelf(factor);
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}
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}
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template<typename T>
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inline std::ostream& FullMatrix<T>::printOn(std::ostream& s) const
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{
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s << "FullMat[" << std::endl;
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for (int i = 0; i < this->size(); i++)
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{
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s << *(this->at(i)) << std::endl;
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}
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s << "]";
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return s;
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}
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template<typename T>
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inline std::shared_ptr<EulerParameters<T>> FullMatrix<T>::asEulerParameters()
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{
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//"Given [A], compute Euler parameter."
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auto traceA = this->trace();
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T dum = 0.0;
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T dumSq = 0.0;
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//auto qE = CREATE<EulerParameters<double>>::With(4); //Cannot use CREATE.h in subclasses of std::vector. Why?
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auto qE = std::make_shared<EulerParameters<T>>(4);
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qE->initialize();
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auto OneMinusTraceDivFour = (1.0 - traceA) / 4.0;
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for (int i = 0; i < 3; i++)
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{
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dumSq = this->at(i)->at(i) / 2.0 + OneMinusTraceDivFour;
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dum = (dumSq > 0.0) ? std::sqrt(dumSq) : 0.0;
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qE->atiput(i, dum);
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}
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dumSq = (1.0 + traceA) / 4.0;
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dum = (dumSq > 0.0) ? std::sqrt(dumSq) : 0.0;
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qE->atiput(3, dum);
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T max = 0.0;
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int maxE = -1;
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for (int i = 0; i < 4; i++)
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{
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auto num = qE->at(i);
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if (max < num) {
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max = num;
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maxE = i;
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}
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}
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if (maxE == 0) {
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auto FourE = 4.0 * qE->at(0);
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qE->atiput(1, (this->at(0)->at(1) + this->at(1)->at(0)) / FourE);
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qE->atiput(2, (this->at(0)->at(2) + this->at(2)->at(0)) / FourE);
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qE->atiput(3, (this->at(2)->at(1) - this->at(1)->at(2)) / FourE);
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}
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else if (maxE == 1) {
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auto FourE = 4.0 * qE->at(1);
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qE->atiput(0, (this->at(0)->at(1) + this->at(1)->at(0)) / FourE);
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qE->atiput(2, (this->at(1)->at(2) + this->at(2)->at(1)) / FourE);
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qE->atiput(3, (this->at(0)->at(2) - this->at(2)->at(0)) / FourE);
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}
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else if (maxE == 2) {
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auto FourE = 4.0 * qE->at(2);
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qE->atiput(0, (this->at(0)->at(2) + this->at(2)->at(0)) / FourE);
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qE->atiput(1, (this->at(1)->at(2) + this->at(2)->at(1)) / FourE);
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qE->atiput(3, (this->at(1)->at(0) - this->at(0)->at(1)) / FourE);
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}
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else if (maxE == 3) {
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auto FourE = 4.0 * qE->at(3);
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qE->atiput(0, (this->at(2)->at(1) - this->at(1)->at(2)) / FourE);
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qE->atiput(1, (this->at(0)->at(2) - this->at(2)->at(0)) / FourE);
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qE->atiput(2, (this->at(1)->at(0) - this->at(0)->at(1)) / FourE);
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}
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qE->conditionSelf();
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qE->calc();
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return qE;
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}
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template<typename T>
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inline T FullMatrix<T>::trace()
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{
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T trace = 0.0;
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for (int i = 0; i < this->size(); i++)
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{
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trace += this->at(i)->at(i);
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}
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return trace;
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}
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template<typename T>
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inline double FullMatrix<T>::maxMagnitude()
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{
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auto max = 0.0;
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for (int i = 0; i < this->size(); i++)
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{
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auto element = this->at(i)->maxMagnitude();
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if (max < element) max = element;
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}
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return max;
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}
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template<typename T>
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inline FColsptr<T> FullMatrix<T>::bryantAngles()
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|
{
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auto answer = std::make_shared<FullColumn<T>>(3);
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auto sthe1y = this->at(0)->at(2);
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T the0x, the1y, the2z, cthe0x, sthe0x, y, x;
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if (std::abs(sthe1y) > 0.9999) {
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if (sthe1y > 0.0) {
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the0x = std::atan2(this->at(1)->at(0), this->at(1)->at(1));
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the1y = M_PI / 2.0;
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the2z = 0.0;
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}
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else {
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the0x = std::atan2(this->at(2)->at(1), this->at(2)->at(0));
|
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the1y = M_PI / -2.0;
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the2z = 0.0;
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}
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}
|
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else {
|
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the0x = std::atan2(-this->at(1)->at(2), this->at(2)->at(2));
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cthe0x = std::cos(the0x);
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sthe0x = std::sin(the0x);
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y = sthe1y;
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if (std::abs(cthe0x) > std::abs(sthe0x)) {
|
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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 FColsptr<T> FullMatrix<T>::timesFullColumn(FColsptr<T> fullCol)
|
|
{
|
|
return this->timesFullColumn(fullCol.get());
|
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}
|
|
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;
|
|
}
|
|
}
|
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|