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mat3x3.h
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mat3x3.h
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: mat3x3.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 MAT3X3_H
#define MAT3X3_H
#include "virtualmatrix.h"
class Vect3;
class Mat6x6;
class Matrix;
class ColMatrix;
class Mat3x3 : public VirtualMatrix {
double elements[3][3];
public:
Mat3x3();
~Mat3x3();
Mat3x3(const Mat3x3& A); // copy constructor
Mat3x3(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);
Mat3x3& operator=(const Mat3x3& A); // assignment operator
Mat3x3& operator=(const VirtualMatrix& A); // overloaded =
Mat3x3& operator*=(double b);
Mat3x3& Identity();
friend Mat3x3 T(const Mat3x3& A); // a wasteful transpose
friend Mat3x3 CrossMat(Vect3& a); // a wasteful cross matrix implementation
friend void FastSimpleRotation(Vect3& v, double q, Mat3x3& d);
friend void FastQuaternions(ColMatrix& q, Mat3x3& C);
friend void FastInvQuaternions(Mat3x3& C, ColMatrix& q);
friend void FastLU(Mat3x3& A, Mat3x3& LU, int *indx);
friend void FastLUSubs(Mat3x3& LU, Mat3x3& B, Mat3x3& C, int *indx);
friend void FastMult(Mat3x3& A, Vect3& B, Vect3& C);
friend void FastTMult(Mat3x3& A, Vect3& B, Vect3& C);
friend void FastNegMult(Mat3x3& A, Vect3& B, Vect3& C);
friend void FastNegTMult(Mat3x3& A, Vect3& B, Vect3& C);
friend void FastMult(Mat3x3& A, Mat3x3& B, Mat3x3& C);
friend void FastMultT(Mat3x3& A, Mat3x3& B, Mat3x3& C);
friend void FastAssignT(Mat3x3& A, Mat3x3& C);
friend void FastMult(Mat3x3& A, Vect3& B, ColMatrix& C);
friend void OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC);
friend void OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI);
friend void FastMult(Mat3x3& A, ColMatrix& B, Vect3& C);
friend void EP_Transformation(ColMatrix& q, Mat3x3& C);
friend void EP_FromTransformation(ColMatrix& q, Mat3x3& C);
};
#endif

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