99 lines
3.4 KiB
C++
99 lines
3.4 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 "FullMatrix.ref.h"
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#include "FullColumn.ref.h"
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#include "FullRow.ref.h"
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#include "DiagonalMatrix.ref.h"
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#include "EulerParameters.ref.h"
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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 : 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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static FMatsptr<T> identitysptr(int n);
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static FMatsptr<T> tildeMatrix(FColDsptr col);
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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) override;
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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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bool isDiagonal();
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bool isDiagonalToWithin(double ratio);
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std::shared_ptr<DiagonalMatrix<T>> asDiagonalMatrix();
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void conditionSelfWithTol(double tol);
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std::ostream& printOn(std::ostream& s) const override;
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};
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}
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