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/*
* Copyright (C) 2010 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
* Author: Eric Sauser
* email: eric.sauser@a3.epf.ch
* website: lasa.epfl.ch
*
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* This program 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
*/
#ifndef SPATIAL_MATRIX_H
#define SPATIAL_MATRIX_H
#include "Matrix3.h"
#include "SpatialVector.h"
#ifdef USE_MATHLIB_NAMESPACE
namespace MathLib {
#endif
/**
* \class SpatialMatrix
*
* \ingroup MathLib
*
* \brief An implementation of the template TMatrix class
*
* This template square matrix class can be used for doing various matrix manipulation.
* This should be combined with the TVector class for doing almost anything
* you ever dreamt of.
*/
class SpatialMatrix
{
public:
Matrix3 m00;
Matrix3 m01;
Matrix3 m10;
Matrix3 m11;
public:
/// Empty constructor
inline SpatialMatrix(){};
/// Copy constructor
inline SpatialMatrix(const SpatialMatrix &matrix){
Set(matrix);
};
/// Copy Constructor
inline SpatialMatrix(const Matrix3& _00,const Matrix3& _01,const Matrix3& _10,const Matrix3& _11){
Set(_00,_01,_10,_11);
};
/// Constructor with values
inline SpatialMatrix(REALTYPE _00, REALTYPE _01, REALTYPE _02, REALTYPE _03, REALTYPE _04, REALTYPE _05,
REALTYPE _10, REALTYPE _11, REALTYPE _12, REALTYPE _13, REALTYPE _14, REALTYPE _15,
REALTYPE _20, REALTYPE _21, REALTYPE _22, REALTYPE _23, REALTYPE _24, REALTYPE _25,
REALTYPE _30, REALTYPE _31, REALTYPE _32, REALTYPE _33, REALTYPE _34, REALTYPE _35,
REALTYPE _40, REALTYPE _41, REALTYPE _42, REALTYPE _43, REALTYPE _44, REALTYPE _45,
REALTYPE _50, REALTYPE _51, REALTYPE _52, REALTYPE _53, REALTYPE _54, REALTYPE _55){
Set(_00,_01,_02,_03,_05,_05,
_10,_11,_12,_13,_15,_15,
_20,_21,_22,_23,_25,_25,
_30,_31,_32,_33,_35,_35,
_40,_41,_42,_43,_45,_45,
_50,_51,_52,_53,_55,_55);
}
/// Destructor
inline virtual ~SpatialMatrix(){}
inline SpatialMatrix& Set(const SpatialMatrix& matrix){
m00.Set(matrix.m00);
m01.Set(matrix.m01);
m10.Set(matrix.m10);
m11.Set(matrix.m11);
return *this;
}
inline SpatialMatrix& Set(REALTYPE _00, REALTYPE _01, REALTYPE _02, REALTYPE _03, REALTYPE _04, REALTYPE _05,
REALTYPE _10, REALTYPE _11, REALTYPE _12, REALTYPE _13, REALTYPE _14, REALTYPE _15,
REALTYPE _20, REALTYPE _21, REALTYPE _22, REALTYPE _23, REALTYPE _24, REALTYPE _25,
REALTYPE _30, REALTYPE _31, REALTYPE _32, REALTYPE _33, REALTYPE _34, REALTYPE _35,
REALTYPE _40, REALTYPE _41, REALTYPE _42, REALTYPE _43, REALTYPE _44, REALTYPE _45,
REALTYPE _50, REALTYPE _51, REALTYPE _52, REALTYPE _53, REALTYPE _54, REALTYPE _55){
m00.Set(_00,_01,_02,
_10,_11,_12,
_20,_21,_22);
m01.Set(_03,_04,_05,
_13,_14,_15,
_23,_24,_25);
m10.Set(_30,_31,_32,
_40,_41,_42,
_50,_51,_52);
m11.Set(_33,_34,_35,
_43,_44,_45,
_53,_54,_55);
return *this;
}
inline SpatialMatrix& Set(const Matrix3& _00,const Matrix3& _01,const Matrix3& _10,const Matrix3& _11){
m00.Set(_00);
m01.Set(_01);
m10.Set(_10);
m11.Set(_11);
return *this;
}
/// Get the sub matrix of size 3 given a block coordinate
inline Matrix3& GetSubMatrix3(unsigned int blockRow, unsigned int blockCol){
if(blockRow==0){
if(blockCol==0){
return m00;
}else /*if(blockCol==1)*/{
return m01;
}
}else if(blockRow==1){
if(blockCol==0){
return m10;
}else /*if(blockCol==1)*/{
return m11;
}
}
}
inline Matrix3& GetSubMatrix3(unsigned int blockRow, unsigned int blockCol, Matrix3 &result) const
{
if(blockRow==0){
if(blockCol==0){
result.Set(m00);
}else if(blockCol==1){
result.Set(m01);
}
}else if(blockRow==1){
if(blockCol==0){
result.Set(m10);
}else if(blockCol==1){
result.Set(m11);
}
}
return result;
}
/// Set the sub matrix of size 3 given a block coordinate
inline SpatialMatrix SetSubMatrix3(unsigned int blockRow, unsigned int blockCol, const Matrix3 &matrix)
{
if(blockRow==0){
if(blockCol==0){
m00.Set(matrix);
}else if(blockCol==1){
m01.Set(matrix);
}
}else if(blockRow==1){
if(blockCol==0){
m10.Set(matrix);
}else if(blockCol==1){
m11.Set(matrix);
}
}
return *this;
}
/// Assignment operator
inline SpatialMatrix& operator = (const SpatialMatrix &matrix)
{
return Set(matrix);
}
/// Inverse operator
inline SpatialMatrix operator - () const
{
SpatialMatrix result;
return Minus(result);
}
/// Inverse operator
inline SpatialMatrix& Minus(SpatialMatrix& result) const
{
m00.Minus(result.m00);
m01.Minus(result.m01);
m10.Minus(result.m10);
m11.Minus(result.m11);
return result;
}
/// Assignment data-wise operations
inline SpatialMatrix& operator += (const SpatialMatrix &matrix) {
m00 += matrix.m00;
m01 += matrix.m01;
m10 += matrix.m10;
m11 += matrix.m11;
return *this;
}
inline SpatialMatrix& operator -= (const SpatialMatrix &matrix) {
m00 -= matrix.m00;
m01 -= matrix.m01;
m10 -= matrix.m10;
m11 -= matrix.m11;
return *this;
}
inline SpatialMatrix& operator ^= (const SpatialMatrix &matrix) {
m00 ^= matrix.m00;
m01 ^= matrix.m01;
m10 ^= matrix.m10;
m11 ^= matrix.m11;
return *this;
}
inline SpatialMatrix& operator /= (const SpatialMatrix &matrix) {
m00 /= matrix.m00;
m01 /= matrix.m01;
m10 /= matrix.m10;
m11 /= matrix.m11;
return *this;
}
inline SpatialMatrix& operator *= (const SpatialMatrix &matrix){
SpatialMatrix copy(*this);
copy.Mult(matrix,*this);
return *this;
}
inline SpatialMatrix& operator += (REALTYPE scalar) {
m00 += scalar;
m01 += scalar;
m10 += scalar;
m11 += scalar;
return *this;
}
inline SpatialMatrix& operator -= (REALTYPE scalar) {
m00 -= scalar;
m01 -= scalar;
m10 -= scalar;
m11 -= scalar;
return *this;
}
inline SpatialMatrix& operator *= (REALTYPE scalar) {
m00 *= scalar;
m01 *= scalar;
m10 *= scalar;
m11 *= scalar;
return *this;
}
inline SpatialMatrix& operator /= (REALTYPE scalar) {
scalar = R_ONE/scalar;
m00 *= scalar;
m01 *= scalar;
m10 *= scalar;
m11 *= scalar;
return *this;
}
inline SpatialMatrix operator + (const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return Add(matrix,result);
}
inline SpatialMatrix operator - (const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return Sub(matrix,result);
}
inline SpatialMatrix operator ^ (const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return PMult(matrix,result);
}
inline SpatialMatrix operator / (const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return PDiv(matrix,result);
}
inline SpatialMatrix operator * (const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return Mult(matrix,result);
}
inline SpatialMatrix Add(const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return Add(matrix,result);
}
inline SpatialMatrix Sub(const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return Sub(matrix,result);
}
inline SpatialMatrix PMult(const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return PMult(matrix,result);
}
inline SpatialMatrix PDiv(const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return PDiv(matrix,result);
}
inline SpatialMatrix Mult(const SpatialMatrix &matrix) const
{
SpatialMatrix result;
return Mult(matrix,result);
}
inline SpatialMatrix& Add(const SpatialMatrix &matrix, SpatialMatrix & result) const
{
m00.Add(matrix.m00,result.m00);
m01.Add(matrix.m01,result.m01);
m10.Add(matrix.m10,result.m10);
m11.Add(matrix.m11,result.m11);
return result;
}
inline SpatialMatrix& Sub(const SpatialMatrix &matrix, SpatialMatrix & result) const
{
m00.Sub(matrix.m00,result.m00);
m01.Sub(matrix.m01,result.m01);
m10.Sub(matrix.m10,result.m10);
m11.Sub(matrix.m11,result.m11);
return result;
}
inline SpatialMatrix& PMult(const SpatialMatrix &matrix, SpatialMatrix & result) const
{
m00.PMult(matrix.m00,result.m00);
m01.PMult(matrix.m01,result.m01);
m10.PMult(matrix.m10,result.m10);
m11.PMult(matrix.m11,result.m11);
return result;
}
inline SpatialMatrix& PDiv(const SpatialMatrix &matrix, SpatialMatrix & result) const
{
m00.PDiv(matrix.m00,result.m00);
m01.PDiv(matrix.m01,result.m01);
m10.PDiv(matrix.m10,result.m10);
m11.PDiv(matrix.m11,result.m11);
return result;
}
inline SpatialMatrix& Mult(const SpatialMatrix &matrix, SpatialMatrix & result) const
{
Matrix3 tmp;
m00.Mult(matrix.m00,result.m00);
result.m00 += (m01.Mult(matrix.m10,tmp));
m00.Mult(matrix.m10,result.m01);
result.m01 += (m01.Mult(matrix.m11,tmp));
m10.Mult(matrix.m00,result.m10);
result.m10 += (m11.Mult(matrix.m10,tmp));
m10.Mult(matrix.m01,result.m11);
result.m11 += (m11.Mult(matrix.m11,tmp));
return result;
}
inline SpatialMatrix operator + (REALTYPE scalar) const
{
SpatialMatrix result;
return Add(scalar,result);
}
inline SpatialMatrix operator - (REALTYPE scalar) const
{
SpatialMatrix result;
return Sub(scalar,result);
}
inline SpatialMatrix operator * (REALTYPE scalar) const
{
SpatialMatrix result;
return Mult(scalar,result);
}
inline SpatialMatrix operator / (REALTYPE scalar) const
{
SpatialMatrix result;
return Div(scalar,result);
}
inline SpatialMatrix Add(REALTYPE scalar) const
{
SpatialMatrix result;
return Add(scalar,result);
}
inline SpatialMatrix Sub(REALTYPE scalar) const
{
SpatialMatrix result;
return Sub(scalar,result);
}
inline SpatialMatrix Mult(REALTYPE scalar) const
{
SpatialMatrix result;
return Mult(scalar,result);
}
inline SpatialMatrix Div(REALTYPE scalar) const
{
SpatialMatrix result;
return Div(scalar,result);
}
inline SpatialMatrix& Add(REALTYPE scalar, SpatialMatrix & result) const
{
m00.Add(scalar,result.m00);
m01.Add(scalar,result.m01);
m10.Add(scalar,result.m10);
m11.Add(scalar,result.m11);
return result;
}
inline SpatialMatrix& Sub(REALTYPE scalar, SpatialMatrix & result) const
{
m00.Sub(scalar,result.m00);
m01.Sub(scalar,result.m01);
m10.Sub(scalar,result.m10);
m11.Sub(scalar,result.m11);
return result;
}
inline SpatialMatrix& Mult(REALTYPE scalar, SpatialMatrix & result) const
{
m00.Mult(scalar,result.m00);
m01.Mult(scalar,result.m01);
m10.Mult(scalar,result.m10);
m11.Mult(scalar,result.m11);
return result;
}
inline SpatialMatrix& Div(REALTYPE scalar, SpatialMatrix & result) const
{
scalar = R_ONE / scalar;
m00.Mult(scalar,result.m00);
m01.Mult(scalar,result.m01);
m10.Mult(scalar,result.m10);
m11.Mult(scalar,result.m11);
return result;
}
inline SpatialVector operator * (const SpatialVector &vector) const
{
SpatialVector result;
return Mult(vector,result);
}
inline SpatialVector Mult(const SpatialVector &vector) const
{
SpatialVector result;
return Mult(vector,result);
}
inline SpatialVector& Mult(const SpatialVector &vector, SpatialVector &result) const
{
Vector3 tmp;
m00.Mult(result.mAngular,result.mAngular);
result.mAngular += (m01.Mult(vector.mLinear,tmp));
m10.Mult(result.mAngular,result.mLinear);
result.mLinear += (m11.Mult(vector.mLinear,tmp));
return result;
}
/// Tests equality of two matrices
inline bool operator == (const SpatialMatrix& matrix) const
{
return ((m00==matrix.m00)&&(m01==matrix.m01)&&(m10==matrix.m10)&&(m11==matrix.m11));
}
/// tests inequality of two vectors
inline bool operator != (const SpatialMatrix& matrix) const
{
return !(*this == matrix);
}
/// Self transpose
inline SpatialMatrix& STranspose()
{
SpatialMatrix copy(*this);
return copy.Transpose(*this);
}
/// Returns the transpose
inline SpatialMatrix Transpose() const
{
SpatialMatrix result;
return Transpose(result);
}
/// Returns the transpose in the result
inline SpatialMatrix& Transpose(SpatialMatrix& result) const
{
m00.Transpose(result.m00);
m01.Transpose(result.m10);
m10.Transpose(result.m01);
m11.Transpose(result.m11);
return result;
}
};
#ifdef USE_MATHLIB_NAMESPACE
}
#endif
#endif
|
