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/*
//
// Copyright 1997-2009 Torsten Rohlfing
//
// Copyright 2004-2012, 2014 SRI International
//
// This file is part of the Computational Morphometry Toolkit.
//
// http://www.nitrc.org/projects/cmtk/
//
// The Computational Morphometry Toolkit is free software: you can
// redistribute it and/or modify it under the terms of the GNU General Public
// License as published by the Free Software Foundation, either version 3 of
// the License, or (at your option) any later version.
//
// The Computational Morphometry Toolkit is distributed in the hope that it
// will be useful, but WITHOUT ANY WARRANTY; without even the implied
// warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License along
// with the Computational Morphometry Toolkit. If not, see
// <http://www.gnu.org/licenses/>.
//
// $Revision: 5287 $
//
// $LastChangedDate: 2014-04-05 22:46:09 -0700 (Sat, 05 Apr 2014) $
//
// $LastChangedBy: torsten_at_home $
//
*/
#include <Base/cmtkDataTypeTraits.h>
#include <algorithm>
namespace
cmtk
{
/// Copy and submatrix constructor.
template<size_t NDIM,class TSCALAR>
template<size_t N2,class T2>
FixedSquareMatrix<NDIM,TSCALAR>::FixedSquareMatrix( const FixedSquareMatrix<N2,T2>& other, const size_t iOfs, const size_t jOfs )
{
assert( NDIM+iOfs <= N2 );
assert( NDIM+jOfs <= N2 );
for ( size_t j = 0; j < Self::Dimension; ++j )
{
for ( size_t i = 0; i < Self::Dimension; ++i )
{
this->m_Matrix[i][j] = other[i+iOfs][j+jOfs];
}
}
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>::FixedSquareMatrix( const typename Self::ScalarType& value )
{
for ( size_t i = 0; i < Self::Dimension; ++i )
for ( size_t j = 0; j < Self::Dimension; ++j )
this->m_Matrix[i][j] = value;
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::Set( const typename Self::ScalarType *const values )
{
memcpy( this->m_Matrix, values, sizeof( this->m_Matrix ) );
return *this;
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::Fill( const typename Self::ScalarType& value )
{
for ( size_t i = 0; i < Self::Dimension; ++i )
for ( size_t j = 0; j < Self::Dimension; ++j )
this->m_Matrix[i][j] = value;
return *this;
}
template<size_t NDIM,class TSCALAR>
const FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::Identity()
{
static Self identity;
static bool initialized = false;
if ( ! initialized )
{
for ( size_t i = 0; i < Self::Dimension; ++i )
for ( size_t j = 0; j < Self::Dimension; ++j )
identity[i][j] = DataTypeTraits<TSCALAR>::Zero();
for ( size_t i = 0; i < Self::Dimension; ++i )
identity[i][i] = DataTypeTraits<TSCALAR>::One();
initialized = true;
}
return identity;
}
template<size_t NDIM,class TSCALAR>
const FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::Zero()
{
static Self zero;
static bool initialized = false;
if ( ! initialized )
{
for ( size_t i = 0; i < Self::Dimension; ++i )
for ( size_t j = 0; j < Self::Dimension; ++j )
zero[i][j] = DataTypeTraits<TSCALAR>::Zero();
initialized = true;
}
return zero;
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>::GetTranspose() const
{
Self transpose;
for ( size_t i = 0; i < Self::Dimension; ++i )
{
for ( size_t j = 0; j < Self::Dimension; ++j )
transpose[i][j] = this->m_Matrix[j][i];
}
return transpose;
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>::GetInverse() const
{
Self inverse = Self::Identity();
typename Self::ScalarType matrix[NDIM][NDIM];
memcpy( matrix, this->m_Matrix, sizeof( matrix ) );
for ( size_t eliminate = 0; eliminate < Self::Dimension; ++eliminate )
{
size_t pivIdx = eliminate;
typename Self::ScalarType pivAbs = fabs( matrix[eliminate][eliminate] );
for ( size_t row = eliminate+1; row < Self::Dimension; ++row )
{
const typename Self::ScalarType nextAbs = fabs( matrix[row][eliminate] );
if (nextAbs > pivAbs )
{
pivIdx = row;
pivAbs = nextAbs;
}
}
if ( pivAbs == 0 )
throw typename Self::SingularMatrixException();
if ( eliminate != pivIdx )
{
for ( size_t col = 0; col < Self::Dimension; ++col )
{
std::swap( matrix[eliminate][col], matrix[pivIdx][col] );
std::swap( inverse[eliminate][col], inverse[pivIdx][col] );
}
}
for ( size_t col = 0; col < Self::Dimension; ++col )
{
if ( col > eliminate )
matrix[eliminate][col] /= matrix[eliminate][eliminate];
inverse[eliminate][col] /= matrix[eliminate][eliminate];
}
matrix[eliminate][eliminate] = DataTypeTraits<TSCALAR>::One();
for ( size_t row = 0; row < Self::Dimension; ++row )
{
if (row != eliminate )
{
for ( size_t col = 0; col < Self::Dimension; ++col )
{
if ( col > eliminate )
matrix[row][col] -= matrix[row][eliminate] * matrix[eliminate][col];
inverse[row][col] -= matrix[row][eliminate] * inverse[eliminate][col];
}
matrix[row][eliminate] = DataTypeTraits<TSCALAR>::Zero();
}
}
}
return inverse;
}
template<size_t NDIM,class T>
FixedSquareMatrix<NDIM,T>
operator+( const FixedSquareMatrix<NDIM,T>& A, const FixedSquareMatrix<NDIM,T>& B )
{
FixedSquareMatrix<NDIM,T> M;
for ( size_t i = 0; i<NDIM; ++i )
{
for ( size_t j = 1; j<NDIM; ++j )
{
M[j][i] = A[j][i] + B[j][i];
}
}
return M;
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::operator+=( const Self& other )
{
return (*this = ((*this) + other));
}
template<size_t NDIM,class T>
FixedSquareMatrix<NDIM,T>
operator-( const FixedSquareMatrix<NDIM,T>& A, const FixedSquareMatrix<NDIM,T>& B )
{
FixedSquareMatrix<NDIM,T> M;
for ( size_t i = 0; i<NDIM; ++i )
{
for ( size_t j = 1; j<NDIM; ++j )
{
M[j][i] = A[j][i] - B[j][i];
}
}
return M;
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::operator-=( const Self& other )
{
return (*this = ((*this) - other));
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::operator*=( const typename Self::ScalarType& scalar )
{
for ( size_t j=0; j < Self::Dimension; ++j )
{
for ( size_t i=0; i < Self::Dimension; ++i )
{
this->m_Matrix[i][j] *= scalar;
}
}
return *this;
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::operator*=( const Self& other )
{
return (*this = ((*this) * other));
}
template<size_t NDIM,class TSCALAR>
const FixedSquareMatrix<NDIM,TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>::operator*
( const Self& other ) const
{
Self result;
for ( size_t j=0; j < Self::Dimension; ++j )
{
for ( size_t i=0; i < Self::Dimension; ++i )
{
result[i][j] = this->m_Matrix[i][0] * other.m_Matrix[0][j];
for ( size_t k=1; k < Self::Dimension; ++k )
result[i][j] += this->m_Matrix[i][k] * other.m_Matrix[k][j];
}
}
return result;
}
template<size_t NDIM,class TSCALAR>
FixedSquareMatrix<NDIM,TSCALAR>&
FixedSquareMatrix<NDIM,TSCALAR>::operator=( const Self& other )
{
memcpy( this->m_Matrix, other.m_Matrix, sizeof( this->m_Matrix ) );
return *this;
}
template<size_t NDIM,class TSCALAR>
TSCALAR
FixedSquareMatrix<NDIM,TSCALAR>::FrobeniusNorm() const
{
typename Self::ScalarType norm = DataTypeTraits<TSCALAR>::Zero();
for ( size_t i = 0; i < Self::Dimension; ++i )
{
for ( size_t j = 0; j < Self::Dimension; ++j )
norm += MathUtil::Square( this->m_Matrix[i][j] );
}
return sqrt( norm );
}
} // namespace cmtk
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