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00019 #include "../config.h"
00020 #ifdef __MATRIXWRAPPER_BOOST__
00021
00022 #ifndef __MATRIX_BOOST__
00023 #define __MATRIX_BOOST__
00024 #include "../../bfl_constants.h"
00025 #include "matrix_wrapper.h"
00026 #include "vector_wrapper.h"
00027 #include <boost/numeric/ublas/matrix.hpp>
00028 #include <boost/numeric/ublas/lu.hpp>
00029 #include <boost/numeric/ublas/symmetric.hpp>
00030 #include <boost/numeric/ublas/io.hpp>
00031 #include <boost/numeric/ublas/lu.hpp>
00032 #include <boost/numeric/ublas/triangular.hpp>
00033 #include <boost/numeric/ublas/storage.hpp>
00034 #include <boost/numeric/ublas/matrix_proxy.hpp>
00035 #include <boost/numeric/ublas/matrix_expression.hpp>
00036 #include <assert.h>
00037
00038
00039 typedef boost::numeric::ublas::matrix<double> BoostMatrix;
00040 typedef boost::numeric::ublas::symmetric_matrix<double, boost::numeric::ublas::lower> BoostSymmetricMatrix;
00041
00042 namespace MatrixWrapper
00043 {
00044
00046 class Matrix : public BoostMatrix, public Matrix_Wrapper
00047 {
00048 private:
00049
00050 public:
00051
00052
00053 Matrix();
00054 Matrix(int m, int n);
00055
00056
00057 virtual ~Matrix();
00058
00059
00060 Matrix (const MyMatrix& a);
00061 Matrix(const BoostMatrix & a);
00062
00063 Matrix(int num_rows,const RowVector& v);
00064
00065
00066 virtual unsigned int rows() const;
00067 virtual unsigned int columns() const;
00068 virtual double& operator()(unsigned int,unsigned int);
00069 virtual double operator()(unsigned int,unsigned int) const;
00070 virtual RowVector operator[](unsigned int)const;
00071
00072 virtual bool operator==(const MyMatrix& a) const;
00073
00074 virtual MyMatrix& operator =(double a);
00075
00076 virtual MyMatrix& operator +=(double a);
00077 virtual MyMatrix& operator -=(double a);
00078 virtual MyMatrix& operator *=(double b);
00079 virtual MyMatrix& operator /=(double b);
00080 virtual MyMatrix operator+ (double b) const;
00081 virtual MyMatrix operator- (double b) const;
00082 virtual MyMatrix operator* (double b) const;
00083 virtual MyMatrix operator/ (double b) const;
00084
00085 virtual MyMatrix& operator =(const MySymmetricMatrix& a);
00086 virtual MyMatrix& operator +=(const MyMatrix& a);
00087 virtual MyMatrix& operator -=(const MyMatrix& a);
00088 virtual MyMatrix operator+ (const MyMatrix &a) const;
00089 virtual MyMatrix operator- (const MyMatrix &a) const;
00090 virtual MyMatrix operator* (const MyMatrix &a) const;
00091
00092 virtual MyColumnVector operator* ( const MyColumnVector &b) const;
00093
00094 virtual MyRowVector rowCopy(unsigned int r) const;
00095 virtual MyColumnVector columnCopy(unsigned int c) const;
00096
00097 virtual void resize(unsigned int i, unsigned int j,
00098 bool copy=true, bool initialize=true);
00099 virtual MyMatrix inverse() const;
00100 virtual MyMatrix transpose() const;
00101 virtual double determinant() const;
00102 virtual int convertToSymmetricMatrix(MySymmetricMatrix& sym);
00103 virtual MyMatrix sub(int i_start, int i_end, int j_start , int j_end) const;
00104
00105 };
00106
00107 class SymmetricMatrix : public BoostSymmetricMatrix, public SymmetricMatrix_Wrapper
00108 {
00109 private:
00110
00111 public:
00112
00113 SymmetricMatrix();
00114 SymmetricMatrix(int n);
00115
00116
00117 SymmetricMatrix(const MySymmetricMatrix& a);
00118 SymmetricMatrix(const BoostSymmetricMatrix & a);
00119
00120 SymmetricMatrix(int num_rows,const RowVector& v);
00121
00122
00123 virtual ~SymmetricMatrix();
00124
00125 virtual unsigned int rows() const;
00126 virtual unsigned int columns() const;
00127 virtual MySymmetricMatrix inverse() const;
00128 virtual MySymmetricMatrix transpose() const;
00129 virtual double determinant() const;
00130
00131 virtual double& operator()(unsigned int,unsigned int);
00132 virtual double operator()(unsigned int,unsigned int) const;
00133 virtual RowVector operator[](unsigned int)const;
00134 virtual bool operator==(const MySymmetricMatrix& a) const;
00135
00136 virtual MySymmetricMatrix& operator=(double a);
00137
00138 virtual MySymmetricMatrix& operator +=(double a);
00139 virtual MySymmetricMatrix& operator -=(double a);
00140 virtual MySymmetricMatrix& operator *=(double b);
00141 virtual MySymmetricMatrix& operator /=(double b);
00142 virtual MySymmetricMatrix operator + (double b) const;
00143 virtual MySymmetricMatrix operator - (double b) const;
00144 virtual MySymmetricMatrix operator * (double b) const;
00145 virtual MySymmetricMatrix operator / (double b) const;
00146
00147 virtual MyRowVector rowCopy(unsigned int r) const;
00148
00149 virtual MyMatrix& operator +=(const MyMatrix& a);
00150 virtual MyMatrix& operator -=(const MyMatrix& a);
00151 virtual MyMatrix operator + (const MyMatrix &a) const;
00152 virtual MyMatrix operator - (const MyMatrix &a) const;
00153 virtual MyMatrix operator * (const MyMatrix &a) const;
00154
00155 virtual MySymmetricMatrix& operator +=(const MySymmetricMatrix& a);
00156 virtual MySymmetricMatrix& operator -=(const MySymmetricMatrix& a);
00157 virtual MySymmetricMatrix operator + (const MySymmetricMatrix &a) const;
00158 virtual MySymmetricMatrix operator - (const MySymmetricMatrix &a) const;
00159 virtual MyMatrix operator * (const MySymmetricMatrix& a) const;
00160
00161 virtual MyColumnVector operator* (const MyColumnVector &b) const;
00162 virtual void multiply (const MyColumnVector &b, MyColumnVector &result) const;
00163
00164 virtual void resize(unsigned int i, bool copy=true, bool initialize=true);
00165 virtual MyMatrix sub(int i_start, int i_end, int j_start , int j_end) const;
00166
00167 };
00168
00169 }
00170
00171 #endif
00172
00173 #endif
bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Thu Feb 11 2016 22:31:56