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root/group/branches/new_design/OOPSE-3.0/src/math/SquareMatrix3.hpp
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Comparing:
trunk/OOPSE-3.0/src/math/SquareMatrix3.hpp (file contents), Revision 1616 by tim, Wed Oct 20 18:07:08 2004 UTC vs.
branches/new_design/OOPSE-3.0/src/math/SquareMatrix3.hpp (file contents), Revision 1822 by tim, Thu Dec 2 02:08:29 2004 UTC

# Line 41 | Line 41 | namespace oopse {
41      template<typename Real>
42      class SquareMatrix3 : public SquareMatrix<Real, 3> {
43          public:
44 +
45 +            typedef Real ElemType;
46 +            typedef Real* ElemPoinerType;
47              
48              /** default constructor */
49              SquareMatrix3() : SquareMatrix<Real, 3>() {
50              }
51  
52 +            /** Constructs and initializes every element of this matrix to a scalar */
53 +            SquareMatrix3(Real s) : SquareMatrix<Real,3>(s){
54 +            }
55 +
56 +            /** Constructs and initializes from an array */
57 +            SquareMatrix3(Real* array) : SquareMatrix<Real,3>(array){
58 +            }
59 +
60 +
61              /** copy  constructor */
62              SquareMatrix3(const SquareMatrix<Real, 3>& m)  : SquareMatrix<Real, 3>(m) {
63              }
64 <
64 >            
65              SquareMatrix3( const Vector3<Real>& eulerAngles) {
66                  setupRotMat(eulerAngles);
67              }
# Line 248 | Line 260 | namespace oopse {
260  
261                  return(x + y + z);
262              }            
263 +
264 +            /** Returns the trace of this matrix. */
265 +            Real trace() const {
266 +                return data_[0][0] + data_[1][1] + data_[2][2];
267 +            }
268              
269              /**
270               * Sets the value of this matrix to  the inversion of itself.
271               * @note since simple algorithm can be applied to inverse the 3 by 3 matrix, we hide the
272               * implementation of inverse in SquareMatrix class
273               */
274 <            SquareMatrix3<Real>  inverse() {
274 >            SquareMatrix3<Real>  inverse() const {
275                  SquareMatrix3<Real> m;
276                  double det = determinant();
277                  if (fabs(det) <= oopse::epsilon) {
# Line 423 | Line 440 | namespace oopse {
440          // transpose the eigenvectors back again
441          v = v.transpose();
442          return ;
443 +    }
444 +
445 +    /**
446 +    * Return the multiplication of two matrixes  (m1 * m2).
447 +    * @return the multiplication of two matrixes
448 +    * @param m1 the first matrix
449 +    * @param m2 the second matrix
450 +    */
451 +    template<typename Real>
452 +    inline SquareMatrix3<Real> operator *(const SquareMatrix3<Real>& m1, const SquareMatrix3<Real>& m2) {
453 +        SquareMatrix3<Real> result;
454 +
455 +            for (unsigned int i = 0; i < 3; i++)
456 +                for (unsigned int j = 0; j < 3; j++)
457 +                    for (unsigned int k = 0; k < 3; k++)
458 +                        result(i, j)  += m1(i, k) * m2(k, j);                
459 +
460 +        return result;
461      }
462 +
463 +    template<typename Real>
464 +    inline SquareMatrix3<Real> outProduct(const Vector3<Real>& v1, const Vector3<Real>& v2) {
465 +        SquareMatrix3<Real> result;
466 +
467 +            for (unsigned int i = 0; i < 3; i++) {
468 +                for (unsigned int j = 0; j < 3; j++) {
469 +                        result(i, j)  = v1[i] * v2[j];                
470 +                }
471 +            }
472 +            
473 +        return result;        
474 +    }
475 +
476 +    
477      typedef SquareMatrix3<double> Mat3x3d;
478      typedef SquareMatrix3<double> RotMat3x3d;
479  

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