rtc::SMat< T, M > Class Template Reference

#include <rtcSMat.h>

Inheritance diagram for rtc::SMat< T, M >:

List of all members.

Public Member Functions
int	choleskyDecomp ()
int	choleskyDecomp (SMat< T, M > &r)
void	choleskySolve (Vec< T, M > &b)
T	det () const
Vec< T, M >	getDiag ()
int	invert ()
SMat< T, M >	inverted () const
SMat< T, M > &	leftMultiply (const SMat< T, M > &m)
int	luDecomp (Vec< int, M > &indx, T *d=NULL)
void	luSolve (const Vec< int, M > &indx, Vec< T, M > &b)
SMat< T, M-1 >	minorMat (const int ip, const int jp) const
void	setDiag (const T a)
void	setDiag (const Vec< T, M > &diagVec)
void	setIdentity ()
	SMat ()
	SMat (const T *d)
	SMat (const T diagVal)
	SMat (const Vec< T, M > &diagVec)
	SMat (const Mat< T, M, M > &m)
template<class U >
	SMat (const Mat< U, M, M > &m)
T	trace () const
void	transpose ()

---

Detailed Description

template<class T, int M>
class rtc::SMat< T, M >

A square matrix. A specialization of a general matrix that provides operations only possible on square matrices like guassian elimination and Cholesky decomposition.

Definition at line 42 of file rtcSMat.h.

---

Constructor & Destructor Documentation

template<class T , int M>

rtc::SMat< T, M >::SMat

(

)

[inline]

Ctor that doesn't initialize anything.

Definition at line 92 of file rtcSMat.h.

template<class T, int M>

rtc::SMat< T, M >::SMat

(

const T *

d

)

[inline]

Ctor that initializes from an array.

Parameters:

d	the (row major) data array of length M*M

Definition at line 98 of file rtcSMat.h.

template<class T, int M>

rtc::SMat< T, M >::SMat

(

const T

diagVal

)

[inline]

Ctor that makes a multiple of the identity matrix.

Parameters:

diagVal

the value to which all diagonal entries will be set

Definition at line 104 of file rtcSMat.h.

template<class T, int M>

rtc::SMat< T, M >::SMat

(

const Vec< T, M > &

diagVec

)

[inline]

Ctor that makes a (mostly) zero matrix with diagonal entries from vec.

Parameters:

diagVec

the vector of values that should appear on the diagonal

Definition at line 113 of file rtcSMat.h.

template<class T, int M>

rtc::SMat< T, M >::SMat

(

const Mat< T, M, M > &

m

)

[inline]

Ctor that initializes from a Mat<T,M,M>

Definition at line 121 of file rtcSMat.h.

template<class T , int M>

template<class U >

rtc::SMat< T, M >::SMat

(

const Mat< U, M, M > &

m

)

[inline]

Casting Ctor that initializes from a Mat<U,M,M>

Definition at line 128 of file rtcSMat.h.

---

Member Function Documentation

template<class T , int M>

int rtc::SMat< T, M >::choleskyDecomp

(

)

[inline]

Perform the Cholesky Decomposition in place. Only the upper triangle (including the diagonal) is used as source data. The result is stored in the lower triangle (including the diagonal).

Returns:

1 on failure (matrix not positive definite), 0 on success

Definition at line 361 of file rtcSMat.h.

template<class T, int M>

int rtc::SMat< T, M >::choleskyDecomp

(

SMat< T, M > &

r

)

[inline]

Perform the Cholesky Decomposition and stores the result in r.

Returns:

1 on failure (matrix not positive definite), 0 on success

Definition at line 379 of file rtcSMat.h.

template<class T, int M>

void rtc::SMat< T, M >::choleskySolve

(

Vec< T, M > &

b

)

[inline]

Perform a Cholesky Decomposition backsolve with given RHS. Precondtion: choleskyDecomp() has already been called

Parameters:

b	the RHS vector in the equation A*x = b

Returns:

b is also the solution, overwriting the passed RHS

Definition at line 396 of file rtcSMat.h.

template<class T , int M>

T rtc::SMat< T, M >::det

(

)

const [inline]

Return the determinant of this matrix. This uses the LU decomposition. Matrices of size 3 and under have specialized implementations.

Reimplemented in rtc::SMat3< T >, and rtc::SMat2< T >.

Definition at line 227 of file rtcSMat.h.

template<class T , int M>

Vec< T, M > rtc::SMat< T, M >::getDiag

(

)

[inline]

Get the diagonal entries of the matrix.

Returns:

vector of the diagonal entries.

Definition at line 174 of file rtcSMat.h.

template<class T , int M>

int rtc::SMat< T, M >::invert

(

)

[inline]

Return the inverse of this matrix This uses the LU decomposition

Reimplemented in rtc::SMat3< T >, and rtc::SMat2< T >.

Definition at line 258 of file rtcSMat.h.

template<class T , int M>

SMat< T, M > rtc::SMat< T, M >::inverted

(

)

const [inline]

Return the inverse of this matrix This uses the LU decomposition

Reimplemented in rtc::Transform2D< T >, rtc::Transform< T >, rtc::Transform< float >, rtc::SMat3< T >, and rtc::SMat2< T >.

Definition at line 238 of file rtcSMat.h.

template<class T, int M>

SMat< T, M > & rtc::SMat< T, M >::leftMultiply

(

const SMat< T, M > &

m

)

[inline]

Matrix-Matrix multiplication from the left.

Definition at line 163 of file rtcSMat.h.

template<class T, int M>

int rtc::SMat< T, M >::luDecomp	(	Vec< int, M > &	indx,
		T *	d = NULL
	)		[inline]

Perform the LU Decomposition in place

Returns:

indx output vector that records the row permutation effected by the partial pivoting

d (optional) is +/- 1 depending on if there were an even (+) or odd (-) number of row-interchanges (used to compute determinant).

1 on failure (matrix singular), 0 on success

Definition at line 283 of file rtcSMat.h.

template<class T, int M>

void rtc::SMat< T, M >::luSolve	(	const Vec< int, M > &	indx,
		Vec< T, M > &	b
	)		[inline]

Perform a LU Decomposition backsolve with given RHS. Precondtion: luDecomp(indx,d) has already been called

Parameters:

indx	the row-swap vector returned from luDecomp()
b	the RHS vector in the equation A*x = b

Returns:

b is also the solution, overwriting the passed RHS

Definition at line 338 of file rtcSMat.h.

template<class T , int M>

SMat< T, M-1 > rtc::SMat< T, M >::minorMat	(	const int	ip,
		const int	jp
	)		const [inline]

Return the minor of this matrix about element (ip,jp)

Definition at line 201 of file rtcSMat.h.

template<class T, int M>

void rtc::SMat< T, M >::setDiag

(

const T

diagVal

)

[inline]

Sets matrix to a multiple of the identity matrix.

Parameters:

diagVal

the value to which all diagonal entries will be set

Definition at line 145 of file rtcSMat.h.

template<class T, int M>

void rtc::SMat< T, M >::setDiag

(

const Vec< T, M > &

diagVec

)

[inline]

Sets the diagonal entries of matrix from a vector. without changing other entries.

Parameters:

diagVec

the vector of values that should appear on the diagonal

Definition at line 155 of file rtcSMat.h.

template<class T , int M>

void rtc::SMat< T, M >::setIdentity

(

)

[inline]

Sets matrix to an identiy matrix, where the diagonal elements are equal to 1 and every other element equals 0.

Definition at line 136 of file rtcSMat.h.

template<class T , int M>

T rtc::SMat< T, M >::trace

(

)

const [inline]

Return the trace of the matrix

Definition at line 185 of file rtcSMat.h.

template<class T , int M>

void rtc::SMat< T, M >::transpose

(

)

[inline]

Transposes this matrix in place, overwriting old data

Definition at line 194 of file rtcSMat.h.

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The documentation for this class was generated from the following file:

• rtcSMat.h