#include "t3d/t3d.h"
#include "t3d/v3d.h"
#include <cmath>
#include "jrl/mathtools/matrix3x3.hh"

Defines
#define	MAL_S4x4_MATRIX_TYPE(type) T3D
#define	MAL_S4x4_MATRIX(name, type) T3D name
#define	MAL_S4x4_MATRIX_CLEAR(name) /Clear don't have any sense/
#define	MAL_S4x4_MATRIX_SET_IDENTITY(name) name=t3dMatrixIdentity
#define	MAL_S4x4_INVERSE(name, inv_matrix, type) inv_matrix=~name;
#define	MAL_S4x4_RET_TRANSPOSE(matrix) /Transpose don't have any sense/
#define	MAL_S4x4_TRANSPOSE_A_in_At(A, At) /Transpose don't have any sense/
#define	MAL_S4x4_RET_A_by_B(A, B) (A)*(B)
#define	MAL_S4x4_C_eq_A_by_B(C, A, B) (C)=(A)*(B)
#define	MAL_S4x4_MATRIX_ACCESS_I(name, i) name.matrix[i]
#define	MAL_S4x4_MATRIX_ACCESS_I_J(name, i, j) name.matrix(i,j)
#define	MAL_S3_VECTOR_TYPE(type) V3D
#define	MAL_S3_VECTOR(name, type) V3D name
#define	MAL_S3_VECTOR_(type) V3D
#define	MAL_S3_VECTOR_SIZE(name) 3
#define	MAL_S3_VECTOR_FILL(name, value)
#define	MAL_S3_VECTOR_NORM(name)
#define	MAL_S3_VECTOR_CROSS_PRODUCT(res, v1, v2)
#define	MAL_S3_RET_VECTOR_DATABLOCK(name) &name
#define	MAL_S3_VECTOR_ACCESS(name, i) name[i]
#define	MAL_S3_VECTOR_CLEAR(name)
#define	MAL_S4_VECTOR_TYPE(type) V3D
#define	MAL_S4_VECTOR(name, type) V3D name
#define	MAL_S4_VECTOR_SIZE(name) 3
#define	MAL_S4_VECTOR_FILL(name, value)
#define	MAL_S4_VECTOR_NORM(name)
#define	MAL_S4_RET_VECTOR_DATABLOCK(name) &name
#define	MAL_S4_VECTOR_ACCESS(name, i) name[i]
#define	MAL_S3x3_MATRIX_TYPE(type) jrlMathTools::Matrix3x3<type>
#define	MAL_S3x3_MATRIX(name, type) jrlMathTools::Matrix3x3<type> name
#define	MAL_S3x3_MATRIX_CLEAR(name) name.setZero()
#define	MAL_S3x3_MATRIX_SET_IDENTITY(name) name.setIdentity()
#define	MAL_S3x3_INVERSE(name, inv_matrix, type) name.Inversion(inv_matrix)
#define	MAL_S3x3_RET_TRANSPOSE(matrix) matrix.Transpose()
#define	MAL_S3x3_TRANSPOSE_A_in_At(A, At) A.Transpose(At)
#define	MAL_S3x3_RET_A_by_B(A, B) A*B
#define	MAL_S3x3_C_eq_A_by_B(C, A, B) A.CeqthismulB(B,C)
#define	MAL_S3x3_MATRIX_ACCESS_I(name, i) name[i]
#define	MAL_S3x3_MATRIX_ACCESS_I_J(name, i, j) name(i,j)
Typedefs
typedef T3D	matrix4d
typedef V3D	vector3d
typedef V3D	vector4d
typedef jrlMathTools::Matrix3x3 < double >	matrix3d

Define Documentation

#define MAL_S3_RET_VECTOR_DATABLOCK ( name ) &name

#define MAL_S3_VECTOR	(	name,
		type
	)	V3D name

#define MAL_S3_VECTOR_ ( type ) V3D

#define MAL_S3_VECTOR_ACCESS	(	name,
		i
	)	name[i]

#define MAL_S3_VECTOR_CLEAR ( name )

Value:

{ name[0] = 0.;       \
    name[1] = 0.;       \
    name[2] = 0.; }

#define MAL_S3_VECTOR_CROSS_PRODUCT	(	res,
		v1,
		v2
	)

Value:

{ res[0] = v1[1]*v2[2]-v1[2]*v2[1];   \
    res[1] = v1[2]*v2[0]-v1[0]*v2[2];   \
    res[2] = v1[0]*v2[1]-v1[1]*v2[0];}

#define MAL_S3_VECTOR_FILL	(	name,
		value
	)

Value:

{ name[0] = value;        \
    name[1] = value;        \
    name[2] = value; }

#define MAL_S3_VECTOR_NORM ( name )

Value:

sqrt(name[0]*name[0]+     \
    name[1]*name[1]+        \
    name[2]*name[2])

#define MAL_S3_VECTOR_SIZE ( name ) 3

#define MAL_S3_VECTOR_TYPE ( type ) V3D

#define MAL_S3x3_C_eq_A_by_B	(	C,
		A,
		B
	)	A.CeqthismulB(B,C)

#define MAL_S3x3_INVERSE	(	name,
		inv_matrix,
		type
	)	name.Inversion(inv_matrix)

#define MAL_S3x3_MATRIX	(	name,
		type
	)	jrlMathTools::Matrix3x3<type> name

#define MAL_S3x3_MATRIX_ACCESS_I	(	name,
		i
	)	name[i]

#define MAL_S3x3_MATRIX_ACCESS_I_J	(	name,
		i,
		j
	)	name(i,j)

#define MAL_S3x3_MATRIX_CLEAR ( name ) name.setZero()

#define MAL_S3x3_MATRIX_SET_IDENTITY ( name ) name.setIdentity()

#define MAL_S3x3_MATRIX_TYPE ( type ) jrlMathTools::Matrix3x3<type>

#define MAL_S3x3_RET_A_by_B	(	A,
		B
	)	A*B

#define MAL_S3x3_RET_TRANSPOSE ( matrix ) matrix.Transpose()

#define MAL_S3x3_TRANSPOSE_A_in_At	(	A,
		At
	)	A.Transpose(At)

#define MAL_S4_RET_VECTOR_DATABLOCK ( name ) &name

#define MAL_S4_VECTOR	(	name,
		type
	)	V3D name

#define MAL_S4_VECTOR_ACCESS	(	name,
		i
	)	name[i]

#define MAL_S4_VECTOR_FILL	(	name,
		value
	)

Value:

{ name[0] = value;        \
    name[1] = value;        \
    name[2] = value;        \
    name[3] = value; }

#define MAL_S4_VECTOR_NORM ( name )

Value:

{ sqrt(name[0]*name[0]+     \
    name[1]*name[1]+        \
    name[2]*name[2]+        \
    name[3]*name[3])}

#define MAL_S4_VECTOR_SIZE ( name ) 3

#define MAL_S4_VECTOR_TYPE ( type ) V3D

#define MAL_S4x4_C_eq_A_by_B	(	C,
		A,
		B
	)	(C)=(A)*(B)

#define MAL_S4x4_INVERSE	(	name,
		inv_matrix,
		type
	)	inv_matrix=~name;

#define MAL_S4x4_MATRIX	(	name,
		type
	)	T3D name

#define MAL_S4x4_MATRIX_ACCESS_I	(	name,
		i
	)	name.matrix[i]

#define MAL_S4x4_MATRIX_ACCESS_I_J	(	name,
		i,
		j
	)	name.matrix(i,j)

#define MAL_S4x4_MATRIX_CLEAR ( name ) /*Clear don't have any sense*/

#define MAL_S4x4_MATRIX_SET_IDENTITY ( name ) name=t3dMatrixIdentity

#define MAL_S4x4_MATRIX_TYPE ( type ) T3D

#define MAL_S4x4_RET_A_by_B	(	A,
		B
	)	(A)*(B)

#define MAL_S4x4_RET_TRANSPOSE ( matrix ) /*Transpose don't have any sense*/

#define MAL_S4x4_TRANSPOSE_A_in_At	(	A,
		At
	)	/Transpose don't have any sense/

Typedef Documentation

typedef jrlMathTools::Matrix3x3<double> matrix3d

typedef T3D matrix4d

This is an implementation of MatrixAbstractLayerSmall using T3D, R3D and V3D

typedef V3D vector3d

typedef V3D vector4d

Defines

Typedefs

Define Documentation

Typedef Documentation