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TAPs 0.7.7.3
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TAPs 0.7.7.3
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00001 /****************************************************************************** 00002 TAPsMatrix3x3.hpp 00003 00004 Matrix3x3 class is a class for 3-by-3 matrices. 00005 00006 SUKITTI PUNAK (09/14/2004) 00007 UPDATE (07/30/2005) 00008 ******************************************************************************/ 00009 #ifndef TAPs_MATRIX3X3_H 00010 #define TAPs_MATRIX3X3_H 00011 00012 #include "TAPsMath.hpp" 00013 00014 BEGIN_NAMESPACE_TAPs 00015 //============================================================================= 00016 // class forward 00017 template <typename T> class Vector3; 00018 //============================================================================= 00019 template <typename T> 00020 class Matrix3x3 { 00021 //============================================================================= 00022 private: 00023 // Matrix Elements 00024 // -- -- 00025 // | e[0] e[1] e[2] | 00026 // | e[3] e[4] e[5] | 00027 // | e[6] e[7] e[8] | 00028 // -- -- 00029 T e[9]; 00030 //------------------------------------------------------------------------- 00031 // Static Data Members for Data Conversions 00032 static float g_f[9]; 00033 static double g_d[9]; 00034 static long double g_ld[9]; 00035 //------------------------------------------------------------------------- 00036 public: 00037 //------------------------------------------------------------------------- 00038 // Output Operator << 00039 friend std::ostream & operator<< ( std::ostream &output, Matrix3x3<T> const &M ) 00040 { 00041 int width = 14; 00042 //output << typeid(*this).name() << "( "; 00043 output << "Matrix3x3<" << typeid(T).name() << "> =\n" 00044 << "| " << std::setw(width) << M.e[0] 00045 << std::setw(width) << M.e[1] 00046 << std::setw(width) << M.e[2] << " |\n" 00047 << "| " << std::setw(width) << M.e[3] 00048 << std::setw(width) << M.e[4] 00049 << std::setw(width) << M.e[5] << " |\n" 00050 << "| " << std::setw(width) << M.e[6] 00051 << std::setw(width) << M.e[7] 00052 << std::setw(width) << M.e[8] << " |\n"; 00053 //output << std::endl; 00054 return output; 00055 } 00056 //------------------------------------------------------------------------- 00057 // Constructors and Destructor 00058 Matrix3x3 (); // default constructor (Identity Matrix) 00059 Matrix3x3 ( Matrix3x3<T> const &M ); // copy constructor 00060 Matrix3x3 ( T ); // constructor 00061 Matrix3x3 ( T, T, T, T, T, T, T, T, T ); // constructor 00062 Matrix3x3 ( T const af[9] ); // constructor from array 00063 ~Matrix3x3 (); // destructor 00064 //------------------------------------------------------------------------- 00065 // Member Access 00066 inline T & operator[] ( int i ); 00067 inline T const & operator[] ( int i ) const; 00068 inline T & operator() ( int r, int c ); 00069 inline T const & operator() ( int r, int c ) const; 00070 //------------------------------------------------------------------------- 00071 // Convert to one dimension array 00072 operator const T *() const; 00073 operator T *(); 00074 //------------------------------------------------------------------------- 00075 // Useful Functions 00076 inline void SetAllElements ( T ); // set all elements 00077 inline void SetAllElements ( T, T, T, T, T, T, T, T, T ); // set all elements 00078 inline void SetAllElements ( T const af[9] ); // set all elements 00079 inline void MakeIdentity (); // set to identity matrix 00080 inline void MakeDiagonal ( T d ); // set to diagonal matrix 00081 inline void MakeDiagonal ( T const af[3] ); // set to diagonal matrix 00082 inline void MakeZero (); // set all elements to zero 00083 inline bool IsIdentity () const; // Is it an identity matrix? 00084 inline bool IsSymmetric () const // Is it a symmetric matrix? 00085 { return e[1]==e[3] && e[2]==e[6] && e[5]==e[7]; } 00086 inline bool IsSquare () const // Is it a square matrix? 00087 { return true;} 00088 //------------------------------------------------------------------------- 00089 // Matrix Operations 00090 inline Matrix3x3<T> & Transposed (); 00091 inline Matrix3x3<T> GetTranspose () const; 00092 inline Matrix3x3<T> & Inversed (); 00093 Matrix3x3<T> GetInverse () const; 00094 inline T GetDeterminant () const; 00095 //------------------------------------------------------------------------- 00096 // Assignment Overloaded Operator 00097 Matrix3x3<T> & operator= ( Matrix3x3<T> const &M ); 00098 //------------------------------------------------------------------------- 00099 // Unary Overloaded Operators 00100 Matrix3x3<T> operator- (); // negation 00101 //------------------------------------------------------------------------- 00102 // Assign Overloaded Operators 00103 Matrix3x3<T> &operator+= ( Matrix3x3<T> const &M ); // += with matrix 00104 Matrix3x3<T> &operator-= ( Matrix3x3<T> const &M ); // -= with matrix 00105 Matrix3x3<T> &operator*= ( Matrix3x3<T> const &M ); // *= with matrix 00106 Matrix3x3<T> &operator*= ( T s ); // *= with scalar 00107 Matrix3x3<T> &operator/= ( T s ); // /= with scalar 00108 //------------------------------------------------------------------------- 00109 // Binary Overloaded Operators 00110 Matrix3x3<T> operator+ ( Matrix3x3<T> const &M ) const; // matrix + matrix 00111 Matrix3x3<T> operator- ( Matrix3x3<T> const &M ) const; // matrix - matrix 00112 Matrix3x3<T> operator* ( Matrix3x3<T> const &M ) const; // matrix * matrix 00113 Matrix3x3<T> operator* ( T s ) const; // matrix * scalar 00114 friend inline Matrix3x3<T> operator* ( T s, Matrix3x3<T> const &M ) // scalar * matrix 00115 { return M * s; } 00116 Matrix3x3<T> operator/ ( T s ) const; // matrix / scalar 00117 inline void MultLeft ( Matrix3x3<T> const &M ); // this matrix = matrix M * this matrix 00118 inline void MultRight ( Matrix3x3<T> const &M ); // this matrix = this matrix * matrix M 00119 //------------------------------------------------------------------------- 00120 // Matrix * Vector 00121 Vector3<T> operator* ( Vector3<T> const &V ) const; 00122 //------------------------------------------------------------------------- 00123 // Static Member Functions for Data Conversions 00124 const float * GetDataFloat () const; 00125 const double * GetDataDouble () const; 00126 const long double * GetDataLongDouble () const; 00127 const float * GetTransposeDataFloat () const; 00128 const double * GetTransposeDataDouble () const; 00129 const long double * GetTransposeDataLongDouble () const; 00130 //------------------------------------------------------------------------- 00131 }; // END CLASS Matrix3x3 00132 //============================================================================= 00133 //----------------------------------------------------------------------------- 00134 // Define Matrix3x3s 00135 typedef Matrix3x3<int> Matrix3x3i; 00136 typedef Matrix3x3<float> Matrix3x3f; 00137 typedef Matrix3x3<double> Matrix3x3d; 00138 typedef Matrix3x3<long double> Matrix3x3ld; 00139 //============================================================================= 00140 END_NAMESPACE_TAPs 00141 //----------------------------------------------------------------------------- 00142 // Include definition if TAPs_USE_EXPORT is not defined 00143 //#if !defined( TAPs_USE_EXPORT ) 00144 #include "TAPsMatrix3x3.cpp" 00145 //#endif 00146 //----------------------------------------------------------------------------- 00147 #endif 00148 //345678901234567890123456789012345678901234567890123456789012345678901234567890 00149 //--+----1----+----2----+----3----+----4----+----5----+----6----+----7----+----8
1.7.4 
