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/* |
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* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project |
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* |
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* Contact: oopse@oopse.org |
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* |
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* This program is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation; either version 2.1 |
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* of the License, or (at your option) any later version. |
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* All we ask is that proper credit is given for our work, which includes |
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* - but is not limited to - adding the above copyright notice to the beginning |
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* of your source code files, and to any copyright notice that you may distribute |
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* with programs based on this work. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with this program; if not, write to the Free Software |
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* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
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* |
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*/ |
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|
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/** |
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* @file Matrix3x3d.hpp |
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* @author Teng Lin |
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* @date 10/11/2004 |
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* @version 1.0 |
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*/ |
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#ifndef MATH_MATRIX3X3D_HPP |
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#define MATH_MATRIX3X3D_HPP |
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|
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#include "math/Vector3.hpp" |
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|
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namespace oopse { |
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|
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/** |
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* @class Matrix3x3d Matrix3x3d.hpp "math/Matrix3x3d.hpp" |
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* @brief A 3x3 matrix class |
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*/ |
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class Matrix3x3d{ |
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public: |
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|
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/** default constructor */ |
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Matrix3x3d(); |
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|
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/** Constructs and initializes every element of this matrix to a scalar */ |
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Matrix3x3d(double s); |
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|
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/** |
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* Return the reference of a single element of this matrix. |
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* @return the reference of a single element of this matrix |
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* @param i row index |
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* @param j colum index |
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*/ |
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double& operator()(unsigned int i, unsigned int j) { return data_[i][j]; } |
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|
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/** |
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* Return the value of a single element of this matrix. |
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* @return the value of a single element of this matrix |
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* @param i row index |
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* @param j colum index |
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*/ |
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double operator()(unsigned int i, unsigned int j) const { return data_[i][j]; } |
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|
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/** |
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* Returns a row of this matrix as a vector. |
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* @return a row of this matrix as a vector |
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* @param i the row index |
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*/ |
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Vector3d getRow(unsigned int i); |
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|
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/** |
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* Sets a row of this matrix |
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* @param i the row index |
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* @param v the vector to be set |
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*/ |
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void setRow(unsigned int i, const Vector3d& v); |
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|
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/** |
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* Returns a column of this matrix as a vector. |
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* @return a column of this matrix as a vector |
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* @param i the column index |
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*/ |
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Vector3d getColum(unsigned int i); |
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|
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/** |
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* Sets a column of this matrix |
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* @param i the column index |
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* @param v the vector to be set |
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*/ |
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void setColum(unsigned int i, const Vector3d& v); |
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|
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/** |
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* Adds a scalar into every element of this matrix. |
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* @param s the scalar value |
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*/ |
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Matrix3x3d& operator +=(const double s); |
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|
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/** |
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* Subtracts a scalar from every element of this matrix. |
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* @param s the scalar value |
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*/ |
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Matrix3x3d& operator -=(const double s); |
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|
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/** |
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* Multiples a scalar into every element of this matrix. |
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* @param s the scalar value |
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*/ |
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Matrix3x3d& operator *=(const double s); |
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|
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Matrix3x3d& operator /=(const double s); |
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|
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/** |
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* Sets the value of this matrix to the sum of the other matrix and itself (*this += m). |
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* @param m the other matrix |
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*/ |
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Matrix3x3d& operator += (const Matrix3x3d& m); |
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|
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/** |
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* Sets the value of this matrix to the differerence of itself and the other matrix (*this -= m) |
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* @param m the other matrix |
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*/ |
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Matrix3x3d& operator -= (const Matrix3x3d& m); |
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|
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/** Returns the inverse of this matrix. */ |
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Matrix3x3d inverse(); |
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|
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/** Returns the transpose of this matrix. */ |
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Matrix3x3d transpose(); |
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|
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/** Returns the determinant of this matrix. */ |
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double determinant() const; |
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|
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/** Returns the trace of this matrix. */ |
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double trace() const; |
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|
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/** Tests if this matrix is symmetrix. */ |
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bool isSymmetric() const; |
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|
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/** Tests if this matrix is orthogona. */ |
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bool isOrthogonal() const; |
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|
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/** Tests if this matrix is diagonal. */ |
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bool isDiagonal() const; |
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|
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/** Tests if this matrix is the unit matrix. */ |
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bool isUnitMatrix() const; |
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|
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/** Negate the value of every element of this matrix. */ |
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friend inline Matrix3x3d operator -(const Matrix3x3d& m); |
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|
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/** |
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* Return the sum of two matrixes (m1 + m2). |
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* @return the sum of two matrixes |
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* @param m1 the first matrix |
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* @param m2 the second matrix |
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*/ |
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friend inline Matrix3x3d operator + (const Matrix3x3d& m1, const Matrix3x3d& m2); |
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|
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/** |
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* Return the difference of two matrixes (m1 - m2). |
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* @return the sum of two matrixes |
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* @param m1 the first matrix |
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* @param m2 the second matrix |
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*/ |
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friend inline Matrix3x3d operator - (const Matrix3x3d& m1, const Matrix3x3d& m2); |
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|
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/** |
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* Return the multiplication of two matrixes (m1 * m2). |
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* @return the multiplication of two matrixes |
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* @param m1 the first matrix |
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* @param m2 the second matrix |
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*/ |
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friend inline Matrix3x3d operator * (const Matrix3x3d& m1, const Matrix3x3d& m2); |
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|
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/** |
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* Return the multiplication of matrixes and vector (m1 * v1). |
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* @return the multiplication of matrixes and vector |
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* @param m1 the matrix |
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* @param v1 the vector |
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*/ |
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friend inline Matrix3x3d operator * (const Matrix3x3d& m1, const Matrix3x3d& v1); |
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|
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protected: |
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double data_[3][3]; /**< matrix element */ |
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|
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} |
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} |
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#endif //MATH_MATRIX3X3D_HPP |