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/** \mainpage GEL: GEometric and Linear algebra tools.
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/** \mainpage GEL: GEometric and Linear algebra tools.
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GEL is a framwork for computer graphics and 3D vision.
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GEL is a framwork for computer graphics and 3D vision.
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There are a good many tools for computational geometry processing: A
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There are a good many tools for computational geometry processing: A
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voxel grid and a simple triangle mesh data structure. There is also a
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voxel grid and a simple triangle mesh data structure. There is also a
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more advanced triangle mesh data structure called IMesh and a halfedge
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more advanced triangle mesh data structure called IMesh and a halfedge
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based polygonal mesh data structure called HMesh. There is a very
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based polygonal mesh data structure called HMesh. There is a very
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useful data structure known as a k-D tree and many other things.
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useful data structure known as a k-D tree and many other things.
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Also found are two packages for linear algebra: CGLA is strictly for small
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Also found are two packages for linear algebra: CGLA is strictly for small
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vectors and matrices. LinAlg is a Lapack wrapper for slightly larger
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vectors and matrices. LinAlg is a Lapack wrapper for slightly larger
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problems. At this point, it is fairly simple.
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problems. At this point, it is fairly simple.
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Finally there are some utilities in Util: Getting command line arguments,
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Finally there are some utilities in Util: Getting command line arguments,
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hash table classes, a 2D grid class, a resource manager and other
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hash table classes, a 2D grid class, a resource manager and other
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miscellany.
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miscellany.
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*/
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*/
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/** \namespace CGLA
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/** \namespace CGLA
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\brief Computer Graphics Linear Algebra.
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\brief Computer Graphics Linear Algebra.
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CGLA is a set of numerical C++ vector and matrix classes and class
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CGLA is a set of numerical C++ vector and matrix classes and class
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templates designed with computer graphics in mind. CGLA stands for
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templates designed with computer graphics in mind. CGLA stands for
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``Computer Graphics Linear Algebra''.
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``Computer Graphics Linear Algebra''.
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Let us get right down to the obvious question: Why create another
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Let us get right down to the obvious question: Why create another
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linear algebra package?
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linear algebra package?
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Well, CGLA evolved from a few matrix and vector classes because I
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Well, CGLA evolved from a few matrix and vector classes because I
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didn't have anything better. Also, I created CGLA to experiment with
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didn't have anything better. Also, I created CGLA to experiment with
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some template programming techniques. This led to the most important
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some template programming techniques. This led to the most important
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feature of CGLA, namely the fact that all vector types are derived
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feature of CGLA, namely the fact that all vector types are derived
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from the same template.
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from the same template.
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This makes it easy to ensure identical semantics: Since all vectors
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This makes it easy to ensure identical semantics: Since all vectors
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have inherited, say, the * operator from a common ancestor, it works
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have inherited, say, the * operator from a common ancestor, it works
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the same for all of them.
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the same for all of them.
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It is important to note that CGLA was designed for Computer Graphics
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It is important to note that CGLA was designed for Computer Graphics
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(not numerical computations) and this had a number of
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(not numerical computations) and this had a number of
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implications. Since, in computer graphics we mainly need small vectors
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implications. Since, in computer graphics we mainly need small vectors
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of dimension 2,3, or 4 CGLA was designed for vectors of low
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of dimension 2,3, or 4 CGLA was designed for vectors of low
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dimensionality. Moreover, the amount of memory allocated for a vector
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dimensionality. Moreover, the amount of memory allocated for a vector
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is decided by its type at compile time. CGLA does not use dynamic
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is decided by its type at compile time. CGLA does not use dynamic
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memory. CGLA also does not use virtual functions, and most functions
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memory. CGLA also does not use virtual functions, and most functions
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are inline. These features all help making CGLA relatively fast.
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are inline. These features all help making CGLA relatively fast.
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Of course, other libraries of vector templates for computer graphics
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Of course, other libraries of vector templates for computer graphics
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exist, but to my knowledge none where the fundamental templates are
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exist, but to my knowledge none where the fundamental templates are
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parametrized w.r.t. dimension as well as type. In other words, we have
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parametrized w.r.t. dimension as well as type. In other words, we have
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a template (ArithVec) that gets both type
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a template (ArithVec) that gets both type
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(e.g. float) and dimension
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(e.g. float) and dimension
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(e.g. 3) as arguments. the intended use of this template is as
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(e.g. 3) as arguments. the intended use of this template is as
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ancestor of concrete types such as Vec3f - a 3D floating
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ancestor of concrete types such as Vec3f - a 3D floating
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point type.
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point type.
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The use of just one template as basis is very important, I believe,
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The use of just one template as basis is very important, I believe,
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since it makes it extremely simple to add new types of
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since it makes it extremely simple to add new types of
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vectors. Another very generic template is ArithMat which is a
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vectors. Another very generic template is ArithMat which is a
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template for matrix classes. (and not necessarily NxN matrices).
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template for matrix classes. (and not necessarily NxN matrices).
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From a users perspective CGLA contains a number of vector and matrix
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From a users perspective CGLA contains a number of vector and matrix
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classes, a quaternion and some utility classes. In summary, the most
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classes, a quaternion and some utility classes. In summary, the most
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important features are
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important features are
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- A number of 2, 3 and 4 d vector classes.
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- A number of 2, 3 and 4 d vector classes.
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- A number of Matrix classes.
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- A number of Matrix classes.
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- A Quaternion class.
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- A Quaternion class.
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- Some test programs.
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- Some test programs.
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- Works well with OpenGL.
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- Works well with OpenGL.
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There is a document on CGLA in the GEL documentation. The introduction
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There is a document on CGLA in the GEL documentation. The introduction
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above was taken from that text.
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above was taken from that text.
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*/
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*/
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/** \namespace Graphics
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/** \namespace Graphics
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\brief The namespace for things related to (real time) rendering
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\brief The namespace for things related to (real time) rendering
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Right now this namespace contains mostly trackball and viewing related
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Right now this namespace contains mostly trackball and viewing related
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things.
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things.
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*/
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*/
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/** \namespace Geometry
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/** \namespace Geometry
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\brief A namespace for utilities related to geometry.
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\brief A namespace for utilities related to geometry.
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This namespace contains a wide range of stuff: Spatial datastructures
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This namespace contains a wide range of stuff: Spatial datastructures
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voxel grids and related classes as well as a simple triangle mesh class.
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voxel grids and related classes as well as a simple triangle mesh class.
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*/
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*/
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/** \namespace HMesh
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/** \namespace HMesh
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\brief The HMesh namespace contains the Manifold class which is a halfedge
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\brief The HMesh namespace contains the Manifold class which is a halfedge
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based mesh.
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based mesh.
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Apart from manifold there are also face and vertex circulators in this
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Apart from manifold there are also face and vertex circulators in this
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namespace. More advanced things are relegated to the HMeshUtil namespace.
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namespace. More advanced things are relegated to the HMeshUtil namespace.
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*/
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*/
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/** \namespace HMeshUtil
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/** \namespace HMeshUtil
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\brief The utility classes and functions for the halfedge based mesh.
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\brief The utility classes and functions for the halfedge based mesh.
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There is a variety of stuff in this namespace. Many tools for manipulating
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There is a variety of stuff in this namespace. Many tools for manipulating
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halfedge based meshes.
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halfedge based meshes.
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*/
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*/
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/** \namespace IMesh
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/** \namespace IMesh
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\brief An indexed face set triangle mesh.
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\brief An indexed face set triangle mesh.
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The classes in this namespace are part of an endeavour to create a
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The classes in this namespace are part of an endeavour to create a
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mesh class for a mesh which is completely generic wrt attributes.
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mesh class for a mesh which is completely generic wrt attributes.
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Any kind of face and vertex attribute can be added at run time. */
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Any kind of face and vertex attribute can be added at run time. */
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/** \namespace IMeshUtil
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/** \namespace IMeshUtil
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\brief Utilities for IMesh
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\brief Utilities for IMesh
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This namespace contains loaders and other utilities needed in conjunction
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This namespace contains loaders and other utilities needed in conjunction
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with IMesh. */
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with IMesh. */
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/*!
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/*!
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\namespace LinAlg
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\namespace LinAlg
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\brief The Linear Algebra Implementation/Module/Package.
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\brief The Linear Algebra Implementation/Module/Package.
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This is the linear algebra package deal with vector and matrix types plus
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This is the linear algebra package deal with vector and matrix types plus
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the basic operation on them. The Vector and Matrix Types are templated such
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the basic operation on them. The Vector and Matrix Types are templated such
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that the precision of a given 'system' can be changen. Though the precision
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that the precision of a given 'system' can be changen. Though the precision
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or type in mind is the double. Special types for 2 and 3 vectors
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or type in mind is the double. Special types for 2 and 3 vectors
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(CVec2 and CVec3) are included for improved performance. The more advanced
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(CVec2 and CVec3) are included for improved performance. The more advanced
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linear algebra functions are supplied by lincage to the LaPack package.
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linear algebra functions are supplied by lincage to the LaPack package.
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\test The functionality in this pacage has if nothing else is mentioned
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\test The functionality in this pacage has if nothing else is mentioned
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been tested by making small functions utilizing the functions. The
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been tested by making small functions utilizing the functions. The
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reason being that the functions here are rather esay to validate due to
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reason being that the functions here are rather esay to validate due to
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their functional simplicity.
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their functional simplicity.
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A list of improvements in mind is:
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A list of improvements in mind is:
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- Lapack interface
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- Lapack interface
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- Vector and Matrix product and so on, with interface to _BLAS_
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- Vector and Matrix product and so on, with interface to _BLAS_
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- iterator thing
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- iterator thing
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- Memory leak check ? inline ?
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- Memory leak check ? inline ?
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- Element functor
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- Element functor
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- Identity matrixs
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- Identity matrixs
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- Compile and utilize the newer versions of the Lapack routines.
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- Compile and utilize the newer versions of the Lapack routines.
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- Have a nameing convention section in the documentaion
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- Have a nameing convention section in the documentaion
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- Integrate the design into the documentation
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- Integrate the design into the documentation
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- Have a get data in the matrix and vector instead of &A[0].
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- Have a get data in the matrix and vector instead of &A[0].
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- Have 3x3, 3x4 4x1 and 4x4 specialities.
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- Have 3x3, 3x4 4x1 and 4x4 specialities.
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- Look at casting e.g. vec2i=vec2l.
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- Look at casting e.g. vec2i=vec2l.
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- Error handling in From/To matrix
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- Error handling in From/To matrix
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- Has error handling in Lapack been made ?
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- Has error handling in Lapack been made ?
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\author Henrik Aanæs
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\author Henrik Aanæs
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\version Aug 2001
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\version Aug 2001
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*/
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*/
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/** \namespace Util
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/** \namespace Util
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\brief This namespace is for general utilities that do not fit elsewhere.
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\brief This namespace is for general utilities that do not fit elsewhere.
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*/
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*/
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