Simbody
3.5
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00001 #ifndef SimTK_SIMMATRIX_MATRIX_H_ 00002 #define SimTK_SIMMATRIX_MATRIX_H_ 00003 00004 /* -------------------------------------------------------------------------- * 00005 * Simbody(tm): SimTKcommon * 00006 * -------------------------------------------------------------------------- * 00007 * This is part of the SimTK biosimulation toolkit originating from * 00008 * Simbios, the NIH National Center for Physics-Based Simulation of * 00009 * Biological Structures at Stanford, funded under the NIH Roadmap for * 00010 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. * 00011 * * 00012 * Portions copyright (c) 2005-13 Stanford University and the Authors. * 00013 * Authors: Michael Sherman * 00014 * Contributors: * 00015 * * 00016 * Licensed under the Apache License, Version 2.0 (the "License"); you may * 00017 * not use this file except in compliance with the License. You may obtain a * 00018 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. * 00019 * * 00020 * Unless required by applicable law or agreed to in writing, software * 00021 * distributed under the License is distributed on an "AS IS" BASIS, * 00022 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * 00023 * See the License for the specific language governing permissions and * 00024 * limitations under the License. * 00025 * -------------------------------------------------------------------------- */ 00026 00030 namespace SimTK { 00031 00032 //============================================================================== 00033 // MATRIX 00034 //============================================================================== 00050 //------------------------------------------------------------------------------ 00051 template <class ELT> class Matrix_ : public MatrixBase<ELT> { 00052 typedef typename CNT<ELT>::Scalar S; 00053 typedef typename CNT<ELT>::Number Number; 00054 typedef typename CNT<ELT>::StdNumber StdNumber; 00055 00056 typedef typename CNT<ELT>::TNeg ENeg; 00057 typedef typename CNT<ELT>::THerm EHerm; 00058 00059 typedef MatrixBase<ELT> Base; 00060 typedef MatrixBase<ENeg> BaseNeg; 00061 typedef MatrixBase<EHerm> BaseHerm; 00062 00063 typedef Matrix_<ELT> T; 00064 typedef MatrixView_<ELT> TView; 00065 typedef Matrix_<ENeg> TNeg; 00066 00067 public: 00068 Matrix_() : Base() { } 00069 explicit Matrix_(const MatrixCommitment& mc) : Base(mc) {} 00070 00071 // Copy constructor is deep. 00072 Matrix_(const Matrix_& src) : Base(src) { } 00073 00074 // Assignment is a deep copy and will also allow reallocation if this Matrix 00075 // doesn't have a view. 00076 Matrix_& operator=(const Matrix_& src) { 00077 Base::operator=(src); return *this; 00078 } 00079 00080 // Force a deep copy of the view or whatever this is. 00081 // Note that this is an implicit conversion. 00082 Matrix_(const Base& v) : Base(v) {} // e.g., MatrixView 00083 00084 // Allow implicit conversion from a source matrix that 00085 // has a negated version of ELT. 00086 Matrix_(const BaseNeg& v) : Base(v) {} 00087 00088 // TODO: implicit conversion from conjugate. This is trickier 00089 // since real elements are their own conjugate so you'll get 00090 // duplicate methods defined from Matrix_(BaseHerm) and Matrix_(Base). 00091 00092 Matrix_(int m, int n) : Base(MatrixCommitment(), m, n) {} 00093 00094 Matrix_(int m, int n, const ELT* cppInitialValuesByRow) 00095 : Base(MatrixCommitment(), m, n, cppInitialValuesByRow) {} 00096 Matrix_(int m, int n, const ELT& initialValue) 00097 : Base(MatrixCommitment(), m, n, initialValue) {} 00098 00099 Matrix_(int m, int n, int leadingDim, const S* data) // read only 00100 : Base(MatrixCommitment(), MatrixCharacter::LapackFull(m,n), 00101 leadingDim, data) {} 00102 Matrix_(int m, int n, int leadingDim, S* data) // writable 00103 : Base(MatrixCommitment(), MatrixCharacter::LapackFull(m,n), 00104 leadingDim, data) {} 00105 00107 template <int M, int N, int CS, int RS> 00108 explicit Matrix_(const Mat<M,N,ELT,CS,RS>& mat) 00109 : Base(MatrixCommitment(), M, N) 00110 { for (int i = 0; i < M; ++i) 00111 for (int j = 0; j < N; ++j) 00112 this->updElt(i, j) = mat(i, j); } 00113 00114 Matrix_& operator=(const ELT& v) { Base::operator=(v); return *this; } 00115 00116 template <class EE> Matrix_& operator=(const MatrixBase<EE>& m) 00117 { Base::operator=(m); return*this; } 00118 template <class EE> Matrix_& operator+=(const MatrixBase<EE>& m) 00119 { Base::operator+=(m); return*this; } 00120 template <class EE> Matrix_& operator-=(const MatrixBase<EE>& m) 00121 { Base::operator-=(m); return*this; } 00122 00123 Matrix_& operator*=(const StdNumber& t) { Base::operator*=(t); return *this; } 00124 Matrix_& operator/=(const StdNumber& t) { Base::operator/=(t); return *this; } 00125 Matrix_& operator+=(const ELT& r) { this->updDiag() += r; return *this; } 00126 Matrix_& operator-=(const ELT& r) { this->updDiag() -= r; return *this; } 00127 00128 const TNeg& negate() const {return *reinterpret_cast<const TNeg*>(this); } 00129 TNeg& updNegate() {return *reinterpret_cast<TNeg*>(this); } 00130 00131 const TNeg& operator-() const {return negate();} 00132 TNeg& operator-() {return updNegate();} 00133 00134 // Functions to be used for Scripting in MATLAB and languages that do not support operator overloading 00136 std::string toString() const { 00137 std::stringstream stream; 00138 stream << (*this) ; 00139 return stream.str(); 00140 } 00142 const ELT& get(int i,int j) const { return this->getElt(i,j); } 00144 void set(int i,int j, const ELT& value) { this->updElt(i,j)=value; } 00145 00146 private: 00147 // NO DATA MEMBERS ALLOWED 00148 }; 00149 00150 } //namespace SimTK 00151 00152 #endif // SimTK_SIMMATRIX_MATRIX_H_