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colmatrix.h
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colmatrix.h
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: colmatrix.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 COLMATRIX_H
#define COLMATRIX_H
#include "virtualcolmatrix.h"
#include "colmatmap.h"
class Matrix;
class Vect6;
class Mat3x3;
class Vect3;
class ColMatrix : public VirtualColMatrix {
double* elements;
public:
ColMatrix();
~ColMatrix();
ColMatrix(const ColMatrix& A); // copy constructor
ColMatrix(const VirtualColMatrix& A); // copy constructor
ColMatrix(const VirtualMatrix& A); // copy constructor
ColMatrix(int m); // size constructor
double& operator_1int (int i); // array access
double Get_1int(int i) const;
void Set_1int(int i, double value);
double BasicGet_1int(int i) const;
void BasicSet_1int(int i, double value);
void BasicIncrement_1int(int i, double value);
double* GetElementPointer(int i);
void Dim(int m);
void Const(double value);
MatrixType GetType() const;
std::istream& ReadData(std::istream& c);
std::ostream& WriteData(std::ostream& c) const;
void AssignVM(const VirtualMatrix& A);
ColMatrix& operator=(const ColMatrix& A); // assignment operator
ColMatrix& operator=(const VirtualColMatrix& A); // overloaded =
ColMatrix& operator=(const VirtualMatrix& A); // overloaded =
ColMatrix& operator*=(double b);
void Abs();
void BasicMax(double& value, int& index);
void BasicMin(double& value, int& index);
// fast matrix operations
friend void FastQuaternions(ColMatrix& q, Mat3x3& C);
friend void FastInvQuaternions(Mat3x3& C, ColMatrix& q);
friend void FastQuaternionDerivatives(ColMatrix& q, ColMatrix& omega, ColMatrix& qdot);
friend void FastTMult(Matrix& A, Vect6& B, ColMatrix& C);
friend void FastMult(Matrix& A, ColMatrix& B, Vect6& C);
friend void FastAssign(ColMatrix& A, ColMatrix& C);
friend void FastMult(Mat3x3& A, ColMatrix& B, Vect3& C);
friend void FastMult(Mat3x3& A, Vect3& B, ColMatrix& C);
friend void FastAssign(ColMatrix&A, Vect3& C);
friend void EP_Derivatives(ColMatrix& q, ColMatrix& u, ColMatrix& qdot);
friend void EP_Transformation(ColMatrix& q, Mat3x3& C);
friend void EP_FromTransformation(ColMatrix& q, Mat3x3& C);
friend void EP_Normalize(ColMatrix& q);
friend void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq,ColMatrix& Aqddot);
friend void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot);
};
#endif

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