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#ifndef __CGLA_ARITHSQMATFLOAT_H__
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#define __CGLA_ARITHSQMATFLOAT_H__
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#include "ArithMatFloat.h"
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namespace CGLA {
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/** Template for square matrices.
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Some functions like trace and determinant work only on
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square matrices. To express this in the class hierarchy,
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ArithSqMatFloat was created. ArithSqMatFloat is derived from ArithMat
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and contains a few extra facilities applicable only to
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square matrices.
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*/
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template <class VT, class MT, int ROWS>
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class ArithSqMatFloat: public ArithMatFloat<VT,VT,MT,ROWS>
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{
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public:
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/// Vector type
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typedef VT VectorType;
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/// The type of a matrix element
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typedef typename VT::ScalarType ScalarType;
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protected:
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/// Construct 0 matrix
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ArithSqMatFloat() {}
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/// Construct matrix where all values are equal to constructor argument.
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explicit ArithSqMatFloat(ScalarType _a):
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ArithMatFloat<VT,VT,MT,ROWS>(_a) {}
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/// Construct 2x2 Matrix from two vectors
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ArithSqMatFloat(VT _a, VT _b):
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ArithMatFloat<VT,VT,MT,ROWS>(_a,_b) {}
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/// Construct 3x3 Matrix from three vectors
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ArithSqMatFloat(VT _a, VT _b, VT _c):
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ArithMatFloat<VT,VT,MT,ROWS>(_a,_b,_c) {}
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/// Construct 4x4 Matrix from four vectors
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ArithSqMatFloat(VT _a, VT _b, VT _c, VT _d):
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ArithMatFloat<VT,VT,MT,ROWS>(_a,_b,_c,_d) {}
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/// Construct matrix from array of values.
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explicit ArithSqMatFloat(const ScalarType* sa) {set(sa);}
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public:
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/** Assignment multiplication of matrices.
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This function is not very efficient. This because we need a temporary
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matrix anyway, so it can't really be made efficient. */
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const MT& operator*=(const MT& m2)
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{
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(*this) = (*this) * m2;
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return static_cast<const MT&>(*this);
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}
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void identity()
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{
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for(int i=0;i<ROWS;++i)
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{
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for(int j=0;j<ROWS;++j)
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(*this)[i][j] = ScalarType(0);
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(*this)[i][i] = ScalarType(1);
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}
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}
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};
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/** Multiply two matrices derived from same type,
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producing a new of same type */
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template <class VT, class MT, int ROWS>
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inline MT operator*(const ArithSqMatFloat<VT,MT,ROWS>& m1,
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const ArithSqMatFloat<VT,MT,ROWS>& m2)
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{
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MT n;
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for(int i=0;i<ROWS;i++)
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for(int j=0;j<ROWS;j++)
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{
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n[i][j] = 0;
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for(int k=0;k<ROWS;k++)
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n[i][j] += m1[i][k] * m2[k][j];
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}
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return n;
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}
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/** Compute the transpose of a square matrix. This function returns
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the transpose of its argument. */
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template <class VT, class MT, int ROWS>
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inline MT transpose(const ArithSqMatFloat<VT,MT,ROWS>& m)
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{
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MT m_new;
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for(int i=0;i<MT::get_v_dim();i++)
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for(int j=0;j<MT::get_h_dim();j++)
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m_new[i][j] = m[j][i];
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return m_new;
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}
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/// Compute trace. Works only for sq. matrices.
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template <class VT, class MT, int ROWS>
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inline typename MT::ScalarType trace(const ArithSqMatFloat<VT,MT,ROWS>& M)
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{
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typename ArithSqMatFloat<VT,MT,ROWS>::ScalarType s=0;
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for(int i=0;i<ROWS;i++)
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s += M[i][i];
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return s;
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}
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}
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#endif
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