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mat6x6.h
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mat6x6.h
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: mat6x6.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 MAT6X6_H
#define MAT6X6_H
#include "virtualmatrix.h"
class Matrix;
class Mat3x3;
class Vect6;
class Vect3;
class Mat6x6 : public VirtualMatrix {
double elements[6][6];
public:
Mat6x6();
~Mat6x6();
Mat6x6(const Mat6x6& A); // copy constructor
Mat6x6(const VirtualMatrix& A); // copy constructor
double& operator_2int(int i, int j); // array access
double Get_2int(int i, int j) const;
void Set_2int(int i, int j, double value);
double BasicGet_2int(int i, int j) const;
void BasicSet_2int(int i, int j, double value);
void BasicIncrement_2int(int i, int j, double value);
void Const(double value);
MatrixType GetType() const;
std::istream& ReadData(std::istream& c); // input
std::ostream& WriteData(std::ostream& c) const; // output
void AssignVM(const VirtualMatrix& A);
Mat6x6& operator=(const Mat6x6& A); // assignment operator
Mat6x6& operator=(const VirtualMatrix& A); // overloaded =
Mat6x6& operator*=(double b);
Mat6x6& Identity();
friend Mat6x6 T(const Mat6x6& A); // a wasteful transpose
// fast matrix operations
friend void FastAdd(Mat6x6& A, Mat6x6& B, Mat6x6& C);
friend void FastSubt(Mat6x6& A, Mat6x6& B, Mat6x6& C);
friend void FastMultT(Matrix& A, Matrix& B, Mat6x6& C);
friend void FastMult(Mat6x6& A, Mat6x6& B, Mat6x6& C); // C = A*B
friend void FastMult(Mat6x6& A, Matrix& B, Matrix& C);
friend void FastMultT(Mat6x6& A, Mat6x6& B, Mat6x6& C); // C = A*B^T
friend void FastTMult(Mat6x6& A, Mat6x6& B, Mat6x6& C); // C = A^T*B
friend void FastMult(Mat6x6& A, Vect6& B, Vect6& C);
friend void FastTMult(Mat6x6& A, Vect6& B, Vect6& C);
friend void FastLDLT(Mat6x6& A, Mat6x6& C);
friend void FastLDLTSubs(Mat6x6& LD, Mat6x6& B, Mat6x6& C);
friend void FastLDLTSubs(Mat6x6& LD, Vect6& B, Vect6& C);
friend void OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC);
friend void OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI);
};
#endif

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