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TAPs 0.7.7.3
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TAPs 0.7.7.3
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00001 /****************************************************************************** 00002 TAPsColMatrix3x3.hpp 00003 00004 ColMatrix3x3 class is a class for a 3-by-3 matrix in column-major order. 00005 00006 SUKITTI PUNAK (09/14/2004) 00007 UPDATE (07/30/2005) 00008 ******************************************************************************/ 00009 #ifndef TAPs_COL_MATRIX3X3_H 00010 #define TAPs_COL_MATRIX3X3_H 00011 00012 #include "TAPsMath.hpp" 00013 00014 BEGIN_NAMESPACE_TAPs 00015 //============================================================================= 00016 template <typename T> 00017 class ColMatrix3x3 { 00018 //============================================================================= 00019 private: 00020 // Matrix Elements 00021 // -- -- 00022 // | e[0] e[3] e[6] | 00023 // | e[1] e[4] e[7] | 00024 // | e[2] e[5] e[8] | 00025 // -- -- 00026 T e[9]; 00027 //------------------------------------------------------------------------- 00028 // Static Data Members for Data Conversions 00029 static float g_f[9]; 00030 static double g_d[9]; 00031 static long double g_ld[9]; 00032 //------------------------------------------------------------------------- 00033 public: 00034 //------------------------------------------------------------------------- 00035 // Output Operator << 00036 friend std::ostream & operator<< ( std::ostream &output, ColMatrix3x3<T> const &M ) 00037 { 00038 int width = 14; 00039 //output << typeid(*this).name() << "( "; 00040 output << "ColMatrix3x3<" << typeid(T).name() << "> =\n" 00041 << "| " << std::setw(width) << M.e[0] 00042 << std::setw(width) << M.e[3] 00043 << std::setw(width) << M.e[6] << " |\n" 00044 << "| " << std::setw(width) << M.e[1] 00045 << std::setw(width) << M.e[4] 00046 << std::setw(width) << M.e[7] << " |\n" 00047 << "| " << std::setw(width) << M.e[2] 00048 << std::setw(width) << M.e[5] 00049 << std::setw(width) << M.e[8] << " |\n"; 00050 //output << std::endl; 00051 return output; 00052 } 00053 //------------------------------------------------------------------------- 00054 // Constructors and Destructor 00055 ColMatrix3x3 (); // default constructor (Identity Matrix) 00056 ColMatrix3x3 ( ColMatrix3x3<T> const &M ); // copy constructor 00057 ColMatrix3x3 ( T ); // constructor 00058 ColMatrix3x3 ( T, T, T, T, T, T, T, T, T ); // constructor 00059 ColMatrix3x3 ( T const af[9] ); // constructor from array 00060 ~ColMatrix3x3 (); // destructor 00061 //------------------------------------------------------------------------- 00062 // Member Access 00063 inline T & operator[] ( int i ); 00064 inline T const & operator[] ( int i ) const; 00065 inline T & operator() ( int r, int c ); 00066 inline T const & operator() ( int r, int c ) const; 00067 //------------------------------------------------------------------------- 00068 // Convert to one dimension array 00069 operator const T *() const; 00070 operator T *(); 00071 //------------------------------------------------------------------------- 00072 // Useful Functions 00073 inline void SetAllElements ( T ); // set all elements 00074 inline void SetAllElements ( T, T, T, T, T, T, T, T, T ); // set all elements 00075 inline void SetAllElements ( T const af[9] ); // set all elements 00076 inline void MakeIdentity (); // set to identity matrix 00077 inline void MakeDiagonal ( T d ); // set to diagonal matrix 00078 inline void MakeDiagonal ( T const af[3] ); // set to diagonal matrix 00079 inline void MakeZero (); // set all elements to zero 00080 //------------------------------------------------------------------------- 00081 // Matrix Operations 00082 inline ColMatrix3x3<T> & Transposed (); 00083 inline ColMatrix3x3<T> GetTranspose () const; 00084 inline ColMatrix3x3<T> & Inversed (); 00085 ColMatrix3x3<T> GetInverse () const; 00086 inline T GetDeterminant () const; 00087 //------------------------------------------------------------------------- 00088 // Assignment Overloaded Operator 00089 ColMatrix3x3<T> & operator= ( ColMatrix3x3<T> const &M ); 00090 //------------------------------------------------------------------------- 00091 // Unary Overloaded Operators 00092 ColMatrix3x3<T> operator- (); // negation 00093 //------------------------------------------------------------------------- 00094 // Assign Overloaded Operators 00095 ColMatrix3x3<T> &operator+= ( ColMatrix3x3<T> const &M ); // += with matrix 00096 ColMatrix3x3<T> &operator-= ( ColMatrix3x3<T> const &M ); // -= with matrix 00097 ColMatrix3x3<T> &operator*= ( ColMatrix3x3<T> const &M ); // *= with matrix 00098 ColMatrix3x3<T> &operator*= ( T s ); // *= with scalar 00099 ColMatrix3x3<T> &operator/= ( T s ); // /= with scalar 00100 //------------------------------------------------------------------------- 00101 // Binary Overloaded Operators 00102 ColMatrix3x3<T> operator+ ( ColMatrix3x3<T> const &M ) const; // matrix + matrix 00103 ColMatrix3x3<T> operator- ( ColMatrix3x3<T> const &M ) const; // matrix - matrix 00104 ColMatrix3x3<T> operator* ( ColMatrix3x3<T> const &M ) const; // matrix * matrix 00105 ColMatrix3x3<T> operator* ( T s ) const; // matrix * scalar 00106 friend inline ColMatrix3x3<T> operator* ( T s, ColMatrix3x3<T> const &M ) // scalar * matrix 00107 { return M * s; } 00108 ColMatrix3x3<T> operator/ ( T s ) const; // matrix / scalar 00109 inline void MultLeft ( ColMatrix3x3<T> const &M ); // this matrix = matrix M * this matrix 00110 inline void MultRight ( ColMatrix3x3<T> const &M ); // this matrix = this matrix * matrix M 00111 //------------------------------------------------------------------------- 00112 // Static Member Functions for Data Conversions 00113 const float * GetDataFloat () const; 00114 const double * GetDataDouble () const; 00115 const long double * GetDataLongDouble () const; 00116 const float * GetTransposeDataFloat () const; 00117 const double * GetTransposeDataDouble () const; 00118 const long double * GetTransposeDataLongDouble () const; 00119 //------------------------------------------------------------------------- 00120 }; // END CLASS ColMatrix3x3 00121 //============================================================================= 00122 //----------------------------------------------------------------------------- 00123 // Define ColMatrix3x3s 00124 typedef ColMatrix3x3<int> ColMatrix3x3i; 00125 typedef ColMatrix3x3<float> ColMatrix3x3f; 00126 typedef ColMatrix3x3<double> ColMatrix3x3d; 00127 typedef ColMatrix3x3<long double> ColMatrix3x3ld; 00128 //============================================================================= 00129 END_NAMESPACE_TAPs 00130 //----------------------------------------------------------------------------- 00131 // Include definition if TAPs_USE_EXPORT is not defined 00132 //#if !defined( TAPs_USE_EXPORT ) 00133 #include "TAPsColMatrix3x3.cpp" 00134 //#endif 00135 //----------------------------------------------------------------------------- 00136 #endif 00137 //345678901234567890123456789012345678901234567890123456789012345678901234567890 00138 //--+----1----+----2----+----3----+----4----+----5----+----6----+----7----+----8
1.7.4 
