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matrixfun.h
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: matrixfun.h *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#ifndef MATRIXFUN_H
#define MATRIXFUN_H
#include "matrices.h"
// Create a Matrix
VirtualMatrix* NewMatrix(int type);
// Transpose
Matrix T(const VirtualMatrix& A);
Mat3x3 T(const Mat3x3& A);
Mat6x6 T(const Mat6x6& A);
Matrix T(const Vect3& A);
Matrix T(const Vect6& A);
RowMatrix T(const VirtualColMatrix& A);
ColMatrix T(const VirtualRowMatrix& A);
// Symmetric Inverse
Matrix SymInverse(Matrix& A);
Mat6x6 SymInverse(Mat6x6& A);
// Inverse
Matrix Inverse(Matrix& A);
Mat3x3 Inverse(Mat3x3& A);
Mat4x4 Inverse(Mat4x4& A);
Mat6x6 Inverse(Mat6x6& A);
// overloaded addition
Matrix operator+ (const VirtualMatrix &A, const VirtualMatrix &B); // addition
//Mat3x3 operator+ (const Mat3x3 &A, const Mat3x3 &B); // addition
//Matrix operator+ (const VirtualMatrix &A, const VirtualMatrix &B); // addition
// overloaded subtraction
Matrix operator- (const VirtualMatrix &A, const VirtualMatrix &B); // subtraction
// overloaded matrix multiplication
Matrix operator* (const VirtualMatrix &A, const VirtualMatrix &B); // multiplication
// overloaded scalar-matrix multiplication
Matrix operator* (const VirtualMatrix &A, double b); // overloaded *
Matrix operator* (double b, const VirtualMatrix &A); // overloaded *
// overloaded negative
Matrix operator- (const VirtualMatrix &A); // negative
Vect3 Cross(Vect3& a, Vect3& b);
Mat3x3 CrossMat(Vect3& a);
Matrix Stack(VirtualMatrix& A, VirtualMatrix& B);
Matrix HStack(VirtualMatrix& A, VirtualMatrix& B);
void Set6DAngularVector(Vect6& v6, Vect3& v3);
void Set6DLinearVector(Vect6& v6, Vect3& v3);
#endif
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