A generic, possibly non-square matrix. More...

#include <MatrixN.h>

Public Member Functions
	MATRIXN ()
	Default constructor - constructs an empty matrix.

	MATRIXN (unsigned rows, unsigned columns)
	Constructs a rows x columns dimensional (unitialized) matrix.

	MATRIXN (unsigned rows, unsigned columns, const REAL *array)
	Constructs a matrix from an array. More...

	MATRIXN (const VECTORN &v, Transposition trans=eNoTranspose)
	Constructs a matrix from a vector. More...

	MATRIXN (const SHAREDVECTORN &v, Transposition trans=eNoTranspose)
	Constructs a matrix from a vector. More...

	MATRIXN (const CONST_SHAREDVECTORN &v, Transposition trans=eNoTranspose)
	Constructs a matrix from a vector. More...

	MATRIXN (const MATRIX2 &m)

	MATRIXN (const MATRIX3 &m)
	Constructs a matrix from a MATRIX3.

	MATRIXN (const MATRIXN &m)
	Constructs a matrix from a pose. More...

	MATRIXN (const SHAREDMATRIXN &m)
	Copy constructor.

	MATRIXN (const CONST_SHAREDMATRIXN &m)
	Copy constructor.

MATRIXN &	set_identity ()
	Sets this matrix to the identity matrix.

MATRIXN &	set_identity (unsigned sz)
	Sets this matrix to the identity matrix.

bool	is_symmetric (REAL tolerance=-1.0) const
	Checks whether the given matrix is symmetric to the specified tolerance.

REAL	norm_inf () const

MATRIXN &	zero_upper_triangle ()
	Zeros the upper triangle of the matrix.

MATRIXN &	zero_lower_triangle ()
	Zeros the lower triangle of the matrix.

MATRIXN &	set (const VECTORN &v, Transposition trans=eNoTranspose)
	Sets this matrix from a vector.

MATRIXN &	set (const SHAREDVECTORN &v, Transposition trans=eNoTranspose)
	Sets this matrix from a vector.

MATRIXN &	set (const CONST_SHAREDVECTORN &v, Transposition trans=eNoTranspose)
	Sets this matrix from a vector.

unsigned	rows () const

unsigned	columns () const

virtual MATRIXN &	resize (unsigned rows, unsigned columns, bool preserve=false)
	Resizes this matrix, optionally preserving its existing elements. More...

MATRIXN &	remove_row (unsigned i)
	Removes a row from the matrix. More...

MATRIXN &	remove_column (unsigned i)
	Removes a column from the matrix. More...

MATRIXN &	negate ()
	Negates this matrix in place.

MATRIXN &	set_zero ()
	Sets the matrix to the zero matrix.

virtual MATRIXN &	transpose ()
	Sets this matrix to its transpose.

virtual MATRIXN &	operator= (const MATRIXN &source)
	Sets this to m.

MATRIXN &	operator= (const MATRIX2 &source)
	Sets a matrix from a MATRIX2.

MATRIXN &	operator= (const MATRIX3 &source)
	Sets a matrix from a MATRIX3.

MATRIXN &	operator= (const SHAREDMATRIXN &source)
	Sets this to m.

MATRIXN &	operator= (const CONST_SHAREDMATRIXN &source)
	Sets this to m.

MATRIXN &	operator= (const VECTORN &v)

MATRIXN &	operator= (const SHAREDVECTORN &v)

MATRIXN &	operator= (const CONST_SHAREDVECTORN &v)

MATRIXN &	operator+= (const MATRIXN &m)
	Adds m to this.

MATRIXN &	operator-= (const MATRIXN &m)
	Subtracts m from this.

MATRIXN &	operator/= (REAL scalar)
	Divides this matrix by a scalar in place.

MATRIXN &	operator*= (REAL scalar)
	Multiplies this matrix by another in place.

REAL *	data ()

const REAL *	data () const

void	free_memory ()

void	compress ()

unsigned	leading_dim () const

unsigned	inc () const

unsigned	size () const
	Gets the total number of elements in this matrix.

const REAL &	operator() (unsigned i, unsigned j) const
	Gets the desired entry.

REAL &	operator() (const unsigned i, const unsigned j)
	Gets the desired entry.

CONST_COLUMN_ITERATOR	block_column_iterator_begin (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end) const
	This file consists of general routines for constant matrices. More...

CONST_COLUMN_ITERATOR	block_column_iterator_end (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end) const
	Gets a column iterator to a block.

CONST_ROW_ITERATOR	block_row_iterator_begin (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end) const
	Gets a row iterator to a block.

CONST_ROW_ITERATOR	block_row_iterator_end (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end) const
	Gets a row iterator to a block.

template<class V >
V &	get_row (unsigned row, V &v) const

template<class V >
V &	get_column (unsigned column, V &v) const

template<class T , class U >
U &	transpose_mult_transpose (const T &x, U &y, REAL alpha=(REAL) 1.0, REAL beta=(REAL) 0.0) const
	Does the operation y = betay + alphathis'*x'.

template<class T , class U >
U &	mult_transpose (const T &x, U &y, REAL alpha=(REAL) 1.0, REAL beta=(REAL) 0.0) const
	Does the operation y = betay + alphathis*x'.

template<class T , class U >
U &	transpose_mult (const T &x, U &y, REAL alpha=(REAL) 1.0, REAL beta=(REAL) 0.0) const
	Does the operation y = betay + alphathis'*x.

template<class T , class U >
U &	mult (const T &x, U &y, REAL alpha=(REAL) 1.0, REAL beta=(REAL) 0.0) const
	Does the operation y = betay + alphathis*x.

template<class M >
M &	get_sub_mat (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end, M &m, Transposition trans=eNoTranspose) const
	Gets the specified sub matrix. More...

template<class ForwardIterator , class M >
M &	select_columns (ForwardIterator col_start, ForwardIterator col_end, M &m) const
	Gets a submatrix of columns (not necessarily a block) More...

template<class M >
M &	select_columns (std::vector< bool > &col_select, M &m) const
	Gets a submatrix of columns (not necessarily a block) More...

template<class ForwardIterator , class M >
M &	select_rows (ForwardIterator row_start, ForwardIterator row_end, M &m) const
	Gets a submatrix of rows (not necessarily a block) More...

template<class M >
M &	select_rows (std::vector< bool > &row_select, M &m) const
	Gets a submatrix of rows (not necessarily a block) More...

template<class ForwardIterator1 , class ForwardIterator2 , class X >
X &	select (ForwardIterator1 row_start, ForwardIterator1 row_end, ForwardIterator2 col_start, ForwardIterator2 col_end, X &m) const
	Gets a submatrix (not necessarily a block) More...

template<class X >
X &	select (const std::vector< bool > &rows, const std::vector< bool > &cols, X &m) const
	Gets a submatrix (not necessarily a block)

template<class M >
M &	select_square (const std::vector< bool > &indices, M &result) const
	Gets a square submatrix (not necessarily a block)

template<class ForwardIterator , class M >
M &	select_square (ForwardIterator start, ForwardIterator end, M &m) const

CONST_COLUMN_ITERATOR	column_iterator_begin () const
	Get an iterator to the beginning.

CONST_COLUMN_ITERATOR	column_iterator_end () const
	Get an iterator to the end.

CONST_ROW_ITERATOR	row_iterator_begin () const
	Get an iterator to the beginning.

CONST_ROW_ITERATOR	row_iterator_end () const
	Get an iterator to the end.

COLUMN_ITERATOR	block_column_iterator_begin (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end)
	Gets a column iterator to a block.

COLUMN_ITERATOR	block_column_iterator_end (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end)
	Gets a column iterator to a block.

ROW_ITERATOR	block_row_iterator_begin (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end)
	Gets a row iterator to a block.

ROW_ITERATOR	block_row_iterator_end (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end)
	Gets a row iterator to a block.

template<class V >
MATRIXX &	set_row (unsigned row, const V &v)

template<class V >
MATRIXX &	set_column (unsigned column, const V &v)

template<class M >
MATRIXX &	set_sub_mat (unsigned row_start, unsigned col_start, const M &m, Transposition trans=eNoTranspose)
	Sets the specified sub matrix. More...

ROW_ITERATOR	row_iterator_begin ()
	Get an iterator to the beginning (iterates column by column)

ROW_ITERATOR	row_iterator_end ()
	Get an iterator to the end.

COLUMN_ITERATOR	column_iterator_begin ()
	Get an iterator to the beginning (iterates column by column)

COLUMN_ITERATOR	column_iterator_end ()
	Get an iterator to the end.

CONST_SHAREDVECTORN	row (unsigned i) const
	Gets the specified sub matrix. More...

CONST_SHAREDVECTORN	column (unsigned i) const
	Gets a shared vector for a column.

CONST_SHAREDMATRIXN	block (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end) const
	Gets a block as a constant shared matrix.

SHAREDVECTORN	row (unsigned i)
	Gets a shared vector for a row.

SHAREDVECTORN	column (unsigned i)
	Gets a shared vector for a column.

SHAREDMATRIXN	block (unsigned row_start, unsigned row_end, unsigned col_start, unsigned col_end)
	Gets a block as a shared matrix.

template<class V >
XMATRIXN &	set (const V &v, Transposition trans)
	Sets a matrix from a vector.

template<class M >
XMATRIXN &	operator+= (const M &m)
	Adds m to *this in place.

template<class M >
XMATRIXN &	operator-= (const M &m)
	Subtracts m from *this in place.

XMATRIXN &	set_zero (unsigned m, unsigned n)
	Sets this to a m x n sized zero matrix.

Static Public Member Functions
static MATRIXN	identity (unsigned dim)
	Returns an identity matrix.

static MATRIXN	construct_variable (unsigned rows, unsigned cols,...)
	Constructs a MATRIXN using a variable number of double values. More...

static MATRIXN	zero (unsigned rows, unsigned columns)

static MATRIXN &	mult (const MATRIXN &m1, const MATRIXN &m2, MATRIXN &result)

template<class V , class U , class W >
static W &	diag_mult (const V &d, const U &v, W &result)
	Determines the transpose of a matrix and stores the result in a given matrix. More...

template<class M >
static M &	transpose (const XMATRIXN &m, M &result)
	Determines the transpose of a matrix and stores the result in a given matrix.

template<class V , class W >
static W &	diag_mult (const V &d, const XMATRIXN &m, W &result)
	Multiplies the diagonal matrix formed from d by the matrix m.

template<class V , class W >
static W &	diag_mult_transpose (const V &d, const XMATRIXN &m, W &result)
	Multiplies the diagonal matrix formed from d by the matrix transpose(m)

Protected Attributes
SharedResizable< REAL >	_data

unsigned	_rows

unsigned	_columns

Static Protected Attributes
static FastThreadable< MATRIXN >	_n

static FastThreadable< VECTORN >	_workv

Friends
class	SHAREDMATRIXN

Detailed Description

A generic, possibly non-square matrix.

The underlying data is stored in column-major format (e.g., the element at row 1, column 0 is the second element in the flat array).

Constructor & Destructor Documentation

MATRIXN::MATRIXN	(	unsigned	rows,
		unsigned	columns,
		const REAL *	array
	)

Constructs a matrix from an array.

Parameters

rows	the number of rows of the matrix
columns	the number of columns of the matrix
array	an array of rows*columns REAL values in column-major format

References resize().

MATRIXN::MATRIXN	(	const VECTORN &	v,
		Transposition	trans = `eNoTranspose`
	)

Constructs a matrix from a vector.

Parameters

v	the vector
determines	whether the vector will be transposed

References set().

MATRIXN::MATRIXN	(	const SHAREDVECTORN &	v,
		Transposition	trans = `eNoTranspose`
	)

Constructs a matrix from a vector.

Parameters

v	the vector
determines	whether the vector will be transposed

References set().

MATRIXN::MATRIXN	(	const CONST_SHAREDVECTORN &	v,
		Transposition	trans = `eNoTranspose`
	)

Constructs a matrix from a vector.

Parameters

v	the vector
determines	whether the vector will be transposed

References set().

MATRIXN::MATRIXN ( const MATRIXN & source )

Constructs a matrix from a pose.

Copy constructor

References operator=().

Member Function Documentation

CONST_COLUMN_ITERATOR MATRIXN::block_column_iterator_begin	(	unsigned	row_start,
		unsigned	row_end,
		unsigned	col_start,
		unsigned	col_end
	)		const

inline

This file consists of general routines for constant matrices.

Gets a column iterator to a block

MATRIXN MATRIXN::construct_variable	(	unsigned	rows,
		unsigned	cols,
			...
	)

static

Constructs a MATRIXN using a variable number of double values.

Note: the values are given row by row; There is no means in C++ to check the types of a list of variable arguments. If the variable arguments are not of type double, then unexpected values will result. Constructing a matrix using the statement MATRIXN::construct_variable(2, 2, 1.0, 1.0, 1.0, 0) is incorrect because the programmer has assumed that the integer 0 will be converted to a double type; this is not the case.

template<class V , class U , class W >

static W& MATRIXN::diag_mult	(	const V &	d,
		const U &	v,
		W &	result
	)

inlinestatic

Determines the transpose of a matrix and stores the result in a given matrix.

Multiplies the diagonal matrix formed from d by the vector v

template<class M >

M& MATRIXN::get_sub_mat	(	unsigned	row_start,
		unsigned	row_end,
		unsigned	col_start,
		unsigned	col_end,
		M &	m,
		Transposition	trans = `eNoTranspose`
	)		const

inline

Gets the specified sub matrix.

Parameters

row_start	the row to start (inclusive)
row_end	the row to end (exclusive)
col_start	the column to start (inclusive)
col_end	the column to end (exclusive)
transpose	determines whether to store the transpose of the submatrix into m

Returns: a (row_end - row_start) x (col_end - col_start) sized matrix

MATRIXN & MATRIXN::remove_column ( unsigned i )

Removes a column from the matrix.

Note: downsizes the matrix – does not reallocate memory

MATRIXN & MATRIXN::remove_row ( unsigned i )

Removes a row from the matrix.

Note: reallocates memory

References block().

MATRIXN & MATRIXN::resize	(	unsigned	rows,
		unsigned	columns,
		bool	preserve = `false`
	)

virtual

Resizes this matrix, optionally preserving its existing elements.

Note: this method keeps from reallocating memory unless absolutely necessary (i.e., if the matrix grows or preserve=true, then memory will need to be reallocated.

Referenced by PLANARJOINT::calc_constraint_jacobian(), REVOLUTEJOINT::calc_constraint_jacobian(), SPHERICALJOINT::calc_constraint_jacobian(), JOINT::calc_constraint_jacobian_numeric(), FSAB_ALGORITHM::calc_inverse_generalized_inertia_noprecalc(), DYNAMIC_BODY::get_generalized_inertia(), MATRIXN(), SPARITH::mult(), operator=(), set(), set_identity(), DYNAMIC_BODY::solve_generalized_inertia(), transpose(), RIGIDBODY::transpose_solve_generalized_inertia(), DYNAMIC_BODY::transpose_solve_generalized_inertia(), and RIGIDBODY::transpose_solve_generalized_inertia_single().

CONST_SHAREDVECTORN MATRIXN::row ( unsigned i ) const

inline

Gets the specified sub matrix.

Parameters

row_start	the row to start (inclusive)
row_end	the row to end (exclusive)
col_start	the column to start (inclusive)
col_end	the column to end (exclusive)
transpose	determines whether to store the transpose of the submatrix into m

Returns: a (row_end - row_start) x (col_end - col_start) sized matrixGets a constant shared vector for a row

Referenced by PLANARJOINT::calc_constraint_jacobian(), REVOLUTEJOINT::calc_constraint_jacobian(), and FSAB_ALGORITHM::calc_inverse_generalized_inertia_noprecalc().

template<class ForwardIterator1 , class ForwardIterator2 , class X >

X& MATRIXN::select	(	ForwardIterator1	row_start,
		ForwardIterator1	row_end,
		ForwardIterator2	col_start,
		ForwardIterator2	col_end,
		X &	m
	)		const

inline

Gets a submatrix (not necessarily a block)

Parameters

row_start	an iterator pointing to the beginning of a container of row indices (container need not be sorted)
row_end	an iterator pointing to the end of a container of row indices (container need not be sorted)
col_start	an iterator pointing to the beginning of a container of column indices (container need not be sorted)
col_end	an iterator pointing to the end of a container of column indices (container need not be sorted)
M	contains the submatrix on return

template<class ForwardIterator , class M >

M& MATRIXN::select_columns	(	ForwardIterator	col_start,
		ForwardIterator	col_end,
		M &	m
	)		const

inline

Gets a submatrix of columns (not necessarily a block)

Parameters

col_start	an iterator pointing to the beginning of a container of column indices (container need not be sorted)
col_end	an iterator pointing to the end of a container of column indices (container need not be sorted)
M	contains the submatrix on return

template<class M >

M& MATRIXN::select_columns	(	std::vector< bool > &	col_select,
		M &	m
	)		const

inline

Gets a submatrix of columns (not necessarily a block)

Parameters

col_select	a vector of bools; if the entry is true in the vector, the column is selected
M	contains the submatrix on return

template<class ForwardIterator , class M >

M& MATRIXN::select_rows	(	ForwardIterator	row_start,
		ForwardIterator	row_end,
		M &	m
	)		const

inline

Gets a submatrix of rows (not necessarily a block)

Parameters

row_start	an iterator pointing to the beginning of a container of row indices (container need not be sorted)
row_end	an iterator pointing to the end of a container of row indices (container need not be sorted)
M	contains the submatrix on return

template<class M >

M& MATRIXN::select_rows	(	std::vector< bool > &	row_select,
		M &	m
	)		const

inline

Gets a submatrix of rows (not necessarily a block)

Parameters

row_select	a vector of bools; if the entry is true in the vector, the row is selected
M	contains the submatrix on return

template<class ForwardIterator , class M >

M& MATRIXN::select_square	(	ForwardIterator	start,
		ForwardIterator	end,
		M &	m
	)		const

inline

Parameters

start	an iterator pointing to the beginning of a container of row/column indices (container need not be sorted)
end	an iterator pointing to the end of a container of row/column indices (container need not be sorted)
M	contains the submatrix on return

template<class M >

MATRIXX& MATRIXN::set_sub_mat	(	unsigned	row_start,
		unsigned	col_start,
		const M &	m,
		Transposition	trans = `eNoTranspose`
	)

inline

Sets the specified sub matrix.

Parameters

row_start	the row to start (inclusive)
col_start	the column to start (inclusive)
m	the source matrix
transpose	determines whether the m is to be transposed

Note: fails assertion if m is too large to insert into this

The documentation for this class was generated from the following files:

/home/drum/Ravelin.new/include/Ravelin/MatrixN.h
/home/drum/Ravelin.new/src/MatrixN.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation