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/* ----------------------------------------------------------------------- *
* This file is part of GEL, http://www.imm.dtu.dk/GEL
* Copyright (C) the authors and DTU Informatics
* For license and list of authors, see ../../doc/intro.pdf
* ----------------------------------------------------------------------- */
/** @file ArithMatFloat.h
* Abstract matrix class
*/
#ifndef __CGLA_ARITHMATFLOAT_H__
#define __CGLA_ARITHMATFLOAT_H__
#include <vector>
#include <iostream>
#include <numeric>
#include "CGLA.h"
namespace CGLA
{
/** \brief Basic class template for matrices.
In this template a matrix is defined as an array of vectors. This may
not in all cases be the most efficient but it has the advantage that
it is possible to use the double subscripting notation:
T x = m[i][j]
This template should be used through inheritance just like the
vector template */
template <class VVT, class HVT, class MT, unsigned int ROWS>
class ArithMatFloat
{
public:
/// Horizontal vector type
typedef HVT HVectorType;
/// Vertical vector type
typedef VVT VVectorType;
/// The type of a matrix element
typedef typename HVT::ScalarType ScalarType;
protected:
/// The actual contents of the matrix.
HVT data[ROWS];
protected:
/// Construct 0 matrix
ArithMatFloat()
{
#ifndef NDEBUG
std::fill_n(data, ROWS, HVT(CGLA_INIT_VALUE));
#endif
}
/// Construct a matrix where all entries are the same.
explicit ArithMatFloat(ScalarType x)
{
std::fill_n(data, ROWS, HVT(x));
}
/// Construct a matrix where all rows are the same.
explicit ArithMatFloat(HVT _a)
{
std::fill_n(data, ROWS, _a);
}
/// Construct a matrix with two rows.
ArithMatFloat(HVT _a, HVT _b)
{
assert(ROWS==2);
data[0] = _a;
data[1] = _b;
}
/// Construct a matrix with three rows.
ArithMatFloat(HVT _a, HVT _b, HVT _c)
{
assert(ROWS==3);
data[0] = _a;
data[1] = _b;
data[2] = _c;
}
/// Construct a matrix with four rows.
ArithMatFloat(HVT _a, HVT _b, HVT _c, HVT _d)
{
assert(ROWS==4);
data[0] = _a;
data[1] = _b;
data[2] = _c;
data[3] = _d;
}
public:
/// Get vertical dimension of matrix
static unsigned int get_v_dim() {return VVT::get_dim();}
/// Get horizontal dimension of matrix
static unsigned int get_h_dim() {return HVT::get_dim();}
/** Get const pointer to data array.
This function may be useful when interfacing with some other API
such as OpenGL (TM). */
const ScalarType* get() const
{
return data[0].get();
}
/** Get pointer to data array.
This function may be useful when interfacing with some other API
such as OpenGL (TM). */
ScalarType* get()
{
return data[0].get();
}
//----------------------------------------------------------------------
// index operators
//----------------------------------------------------------------------
/// Const index operator. Returns i'th row of matrix.
const HVT& operator [] ( unsigned int i ) const
{
assert(i<ROWS);
return data[i];
}
/// Non-const index operator. Returns i'th row of matrix.
HVT& operator [] ( unsigned int i )
{
assert(i<ROWS);
return data[i];
}
//----------------------------------------------------------------------
/// Equality operator.
bool operator==(const MT& v) const
{
return std::inner_product(data, &data[ROWS], &v[0], true,
std::logical_and<bool>(), std::equal_to<HVT>());
}
/// Inequality operator.
bool operator!=(const MT& v) const
{
return !(*this==v);
}
//----------------------------------------------------------------------
/// Multiply scalar onto matrix. All entries are multiplied by scalar.
const MT operator * (ScalarType k) const
{
MT v_new;
std::transform(data, &data[ROWS], &v_new[0], std::bind2nd(std::multiplies<HVT>(), HVT(k)));
return v_new;
}
/// Divide all entries in matrix by scalar.
const MT operator / (ScalarType k) const
{
MT v_new;
std::transform(data, &data[ROWS], &v_new[0], std::bind2nd(std::divides<HVT>(), HVT(k)));
return v_new;
}
/// Assignment multiplication of matrix by scalar.
const MT& operator *=(ScalarType k)
{
std::transform(data, &data[ROWS], data, std::bind2nd(std::multiplies<HVT>(), HVT(k)));
return static_cast<const MT&>(*this);
}
/// Assignment division of matrix by scalar.
const MT& operator /=(ScalarType k)
{
std::transform(data, &data[ROWS], data, std::bind2nd(std::divides<HVT>(), HVT(k)));
return static_cast<const MT&>(*this);
}
//----------------------------------------------------------------------
/// Add two matrices.
const MT operator + (const MT& m1) const
{
MT v_new;
std::transform(data, &data[ROWS], &m1[0], &v_new[0], std::plus<HVT>());
return v_new;
}
/// Subtract two matrices.
const MT operator - (const MT& m1) const
{
MT v_new;
std::transform(data, &data[ROWS], &m1[0], &v_new[0], std::minus<HVT>());
return v_new;
}
/// Assigment addition of matrices.
const MT& operator +=(const MT& v)
{
std::transform(data, &data[ROWS], &v[0], data, std::plus<HVT>());
return static_cast<const MT&>(*this);
}
/// Assigment subtraction of matrices.
const MT& operator -=(const MT& v)
{
std::transform(data, &data[ROWS], &v[0], data, std::minus<HVT>());
return static_cast<const MT&>(*this);
}
//----------------------------------------------------------------------
/// Negate matrix.
const MT operator - () const
{
MT v_new;
std::transform(data, &data[ROWS], &v_new[0], std::negate<HVT>());
return v_new;
}
};
/// Multiply scalar onto matrix
template <class VVT, class HVT, class MT, unsigned int ROWS>
inline const MT operator * (double k, const ArithMatFloat<VVT,HVT,MT,ROWS>& v)
{
return v * k;
}
/// Multiply scalar onto matrix
template <class VVT, class HVT, class MT, unsigned int ROWS>
inline const MT operator * (float k, const ArithMatFloat<VVT,HVT,MT,ROWS>& v)
{
return v * k;
}
/// Multiply scalar onto matrix
template <class VVT, class HVT, class MT, unsigned int ROWS>
inline const MT operator * (int k, const ArithMatFloat<VVT,HVT,MT,ROWS>& v)
{
return v * k;
}
/// Multiply vector onto matrix
template <class VVT, class HVT, class MT, unsigned int ROWS>
inline VVT operator*(const ArithMatFloat<VVT,HVT,MT,ROWS>& m,const HVT& v)
{
VVT v2;
for(unsigned int i=0;i<ROWS;i++) v2[i] = dot(m[i], v);
return v2;
}
#ifndef WIN32
/** Multiply two arbitrary matrices.
In principle, this function could return a matrix, but in general
the new matrix will be of a type that is different from either of
the two matrices that are multiplied together. We do not want to
return an ArithMatFloat - so it seems best to let the return value be
a reference arg.
This template can only be instantiated if the dimensions of the
matrices match -- i.e. if the multiplication can actually be
carried out. This is more type safe than the win32 version below.
*/
template <class VVT, class HVT,
class HV1T, class VV2T,
class MT1, class MT2, class MT,
unsigned int ROWS1, unsigned int ROWS2>
inline void mul(const ArithMatFloat<VVT,HV1T,MT1,ROWS1>& m1,
const ArithMatFloat<VV2T,HVT,MT2,ROWS2>& m2,
ArithMatFloat<VVT,HVT,MT,ROWS1>& m)
{
unsigned int cols = ArithMatFloat<VVT,HVT,MT,ROWS1>::get_h_dim();
for(unsigned int i=0;i<ROWS1;i++)
for(unsigned int j=0;j<cols;j++)
{
m[i][j] = 0;
for(unsigned int k=0;k<ROWS2;k++)
m[i][j] += m1[i][k] * m2[k][j];
}
}
/** Transpose. See the discussion on mul if you are curious as to why
I don't simply return the transpose. */
template <class VVT, class HVT, class M1T, class M2T, unsigned int ROWS, unsigned int COLS>
inline void transpose(const ArithMatFloat<VVT,HVT,M1T,ROWS>& m,
ArithMatFloat<HVT,VVT,M2T,COLS>& m_new)
{
for(unsigned int i=0;i<M2T::get_v_dim();++i)
for(unsigned int j=0;j<M2T::get_h_dim();++j)
m_new[i][j] = m[j][i];
}
#else
//----------------- win32 -------------------------------
// Visual studio is not good at deducing the args. to these template functions.
// This means that you can call the two functions below with
// matrices of wrong dimension.
template <class M1, class M2, class M>
inline void mul(const M1& m1, const M2& m2, M& m)
{
unsigned int cols = M::get_h_dim();
unsigned int rows1 = M1::get_v_dim();
unsigned int rows2 = M2::get_v_dim();
for(unsigned int i=0;i<rows1;++i)
for(unsigned int j=0;j<cols;++j)
{
m[i][j] = 0;
for(unsigned int k=0;k<rows2;++k)
m[i][j] += m1[i][k] * m2[k][j];
}
}
/** Transpose. See the discussion on mul if you are curious as to why
I don't simply return the transpose. */
template <class M1, class M2>
inline void transpose(const M1& m1, M2& m2)
{
for(unsigned int i=0;i<M2::get_v_dim();++i)
for(unsigned int j=0;j<M2::get_h_dim();++j)
m2[i][j] = m1[j][i];
}
#endif
/** Compute the outer product of a and b: a * transpose(b). This is
a matrix with a::rows and b::columns. */
template <class VVT, class HVT, class MT, unsigned int ROWS>
void outer_product(const VVT& a, const HVT& b,
ArithMatFloat<VVT,HVT,MT,ROWS>& m)
{
unsigned int R = VVT::get_dim();
unsigned int C = HVT::get_dim();
for(unsigned int i=0;i<R;++i)
for(unsigned int j=0;j<C;++j)
{
m[i][j] = a[i] * b[j];
}
}
/** Compute the outer product of a and b using an arbitrary
binary operation: op(a, transpose(b)). This is
a matrix with a::rows and b::columns. */
template <class VVT, class HVT, class MT, int ROWS, class BinOp>
void outer_product(const VVT& a, const HVT& b,
ArithMatFloat<VVT,HVT,MT,ROWS>& m, BinOp op)
{
int R = VVT::get_dim();
int C = HVT::get_dim();
for(int i=0;i<R;++i)
for(int j=0;j<C;++j)
{
m[i][j] = op(a[i], b[j]);
}
}
/** Copy a matrix to another matrix, cell by cell.
This conversion that takes a const matrix as first argument
(source) and a non-const matrix as second argument
(destination). The contents of the first matrix is simply copied
to the second matrix.
However, if the first matrix is larger than the second,
the cells outside the range of the destination are simply not
copied. If the destination is larger, the cells outside the
range of the source matrix are not touched.
An obvious use of this function is to copy a 3x3 rotation matrix
into a 4x4 transformation matrix.
*/
template <class M1, class M2>
void copy_matrix(const M1& inmat, M2& outmat)
{
const unsigned int R = s_min(inmat.get_v_dim(), outmat.get_v_dim());
const unsigned int C = s_min(inmat.get_h_dim(), outmat.get_h_dim());
for(unsigned int i=0;i<R;++i)
for(unsigned int j=0;j<C;++j)
outmat[i][j] = inmat[i][j];
}
/** Put to operator */
template <class VVT, class HVT, class MT, unsigned int ROWS>
inline std::ostream&
operator<<(std::ostream&os, const ArithMatFloat<VVT,HVT,MT,ROWS>& m)
{
os << "[\n";
for(unsigned int i=0;i<ROWS;i++) os << " " << m[i] << "\n";
os << "]\n";
return os;
}
/** Get from operator */
template <class VVT, class HVT, class MT, unsigned int ROWS>
inline std::istream& operator>>(std::istream&is,
const ArithMatFloat<VVT,HVT,MT,ROWS>& m)
{
for(unsigned int i=0;i<ROWS;i++) is>>m[i];
return is;
}
}
#endif