mesh_conv::MC_matrix Class Reference

exception class for matrix More...

#include <MC_matrix.hpp>

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List of all members.

Public Member Functions

 MC_matrix ()
 empty constructor
 MC_matrix (const int &size_col, const int &size_row)
 zeros matrix with given size
 MC_matrix (const int &size_col)
 zeros square matrix with given size
 MC_matrix (const MC_matrix &size_row)
 copy constructor
 MC_matrix (const MC_v3d &v)
 direct constructor from a MC_v3d
 MC_matrix (const MC_v3d &v1, const MC_v3d &v2)
 direct constructor from a MC_v3d
 MC_matrix (const MC_v3d &v1, const MC_v3d &v2, const MC_v3d &v3)
 direct constructor from a MC_v3d
 MC_matrix (const MC_v3d_vector &v)
 direct constructor from a set of MC_v3d
 MC_matrix (const MC_double_vector &column)
 direct constructor from a column vector
 ~MC_matrix ()
 destructor
void check_integrity () const
 check if size are consistent
MC_matrix & clear ()
int size_1 () const
int size_2 () const
MC_int_vector size () const
int size_vec () const
MC_matrix & resize (const MC_int_vector &new_size)
 internal resize the matrix
MC_matrix & resize (const int &size_1, const int &size_2=-1)
 internal resize the matrix (if size_2==-1 by default, resize a square matrix)
MC_matrix & resize_1 (const int &size_1)
 internal resize only in x
MC_matrix & resize_2 (const int &size_2)
 internal resize only in y
MC_matrix reshaped_1 (const int &size_1) const
 reshape the matrix with a constant total size
MC_matrix reshaped_2 (const int &size_2) const
 reshape the matrix with a constant total size
MC_matrix reshaped (const MC_int_vector &new_size) const
 reshape the matrix with a constant total size
MC_matrix reshaped (const int &new_size_1, const int &new_size_2) const
 reshape the matrix with a constant total size
MC_matrix repmat (const int &k_repeat) const
 repeat matrix by block
MC_matrix repmat (const int &k_repeat_1, const int &k_repeat_2) const
 repeat matrix by block
MC_matrix repmat (const MC_int_vector &k_repeat) const
 repeat matrix by block
MC_matrix repmat_1 (const int &k_repeat_1) const
 repeat matrix by block in x direction
MC_matrix repmat_2 (const int &k_repeat_2) const
 repeat matrix by block in y direction
MC_matrix & set_block (const MC_int_vector &index_1, const MC_int_vector &index_2, const MC_matrix &block)
 set a block of matrix
MC_matrix & set_block (const int &start_x, const int &end_x, const int &start_y, const int &end_y, const MC_matrix &block)
 set a block of matrix
const double & to_double () const
 return a double if size are ok (size_1()==1 && size_2()==1)
const MC_double_vector & to_vec () const
 return a vector of the matrix (similar to M(:))
MC_matrix & add_row (const MC_v3d &x0)
 add a block of MC_v3d only if size if (n,3)
MC_matrix & add_row (const MC_v3d &x0, const MC_v3d &x1)
 add a block of MC_v3d only if size if (n,3)
MC_matrix & add_row (const MC_v3d &x0, const MC_v3d &x1, const MC_v3d &x2)
MC_matrix & add_row (const MC_double_vector &col)
 add a column block only if size are compatibles
MC_matrix & set_row (const int &id_row, const MC_double_vector &row)
 set a full row given a double_vector resize the matrix if needed
MC_double_vector get_row (const int &k_index) const
 get a given row
MC_matrix & add_col (const MC_v3d &x0)
 add a block of V_3D only if size if (3,n)
MC_matrix & add_col (const MC_v3d &x0, const MC_v3d &x1)
 add a block of V_3D only if size if (3,n)
MC_matrix & add_col (const MC_v3d &x0, const MC_v3d &x1, const MC_v3d &x2)
 add a block of V_3D only if size if (3,n)
MC_matrix & add_col (const MC_double_vector &col)
 add a column block only if size are compatibles
MC_matrix & set_col (const int &id_col, const MC_double_vector &col)
 set a full column given a double_vector
MC_double_vector get_col (const int &k_index) const
 get a given row
MC_matrix to_matrix4 () const
 transform a 3x3 affine matrix into a 4x4 projective one (M[4][4]=1)
std::pair< MC_matrix, MC_v3d > to_matrix3 () const
 transform a 4x4 projective matrix transform into a 3x3 by resizing
MC_matrix transposed () const
 transpose the matrix
MC_matrix inverted () const
 Invert the matrix if possible Use newmat class to invert.
double norm_2 () const
 get the norm_2 of the matrix return the sqrt(sum x_i^2) for every elements
MC_matrix log_m (int *error_bit=0) const
 return the log matrix if exists See kenney and Laub [1989] and Alexa's paper on linear interpolation
MC_matrix pow_m (const int &k_pow) const
 return the log matrix if exists without the error_bit
MC_matrix exp_m () const
 get the exponential matrix
MC_matrix lsqr_invert () const
 invert matrix in a least square sense
std::pair< MC_matrix, MC_matrix > polar_decomposition () const
 get polar decomposition of the matrix [R,U] with M=R.U
double trace () const
 get trace
MC_matrix componentwise (const MC_matrix &M1) const
 componentwise product
MC_matrix & operator+= (const double &a)
 internal add a scalar value
MC_matrix & operator+= (const MC_matrix &M)
 internal add an other matrix
MC_matrix & operator*= (const double &a)
 internal multiplication by a scalar
MC_matrix & operator/= (const double &a)
 internal division by a scalar
MC_matrix & operator*= (const MC_matrix &M1)
 internal multiplication beween two matrix
void internal_product (MC_v3d *to_multiply) const
 internal product to a MC_v3d
void internal_product (MC_v4d *to_multiply) const
 internal product to a MC_v4d
MC_matrix & add_translation (const MC_v3d &tr)
 internal add to the translation part of a matrix 4x4
double & operator() (const int &k1, const int &k2)
 direct access
const double & operator() (const int &k1, const int &k2) const
 direct access
double & operator() (const int &k_index)
 access from real index in vector
const double & operator() (const int &k_index) const
 access from real index in vector
MC_matrix operator() (const MC_int_vector &k_index)
 access from vector of real index in vector
MC_matrix operator() (const MC_int_vector &index_1, const MC_int_vector &index_2) const
 submatrix from vector of coordinates
MC_matrix operator() (const std::string &string_index_1, const std::string &string_index_2)
 submatrix from vector of coordinates
MC_matrix operator() (const std::string &string_index)
 submatrix from a vector of coordinates given by a string
MC_v3d translation_part () const
 get the translation part of a matrix 4x4
MC_matrix & set_translation (const MC_v3d &tr)
 set the translation part of a matrix 4x4
MC_matrix & set_rotation (const MC_matrix &m)
 set the rotation (block 3x3) part of a matrix 4x4 or 3x3
const double * pointer () const
 get the pointer on the value
std::string to_string () const
 export matrix as string

Static Public Member Functions

static MC_matrix zeros (const int &size_1, const int &size_2)
 build a zeros matrix
static MC_matrix zeros (const int &size)
 build a square zeros matrix
static MC_matrix identity (const int &size)
 build a square identity matrix
static MC_matrix rotation_axis_to_axis (const MC_v3d &a1, const MC_v3d &a2)
 build a rotation matrix transforming an axis a1 into an axis a2
static MC_matrix rotation_registration (const MC_matrix &X, const MC_matrix &X0)
 get the best rotation between a set of points
static MC_matrix rotation (const MC_v3d &axis, const double &angle)
 init to a rotation matrix
static std::pair< MC_matrix,
std::vector< MC_matrix > > 		rotation_axis_to_axis_with_gradient (const MC_v3d &a0, const MC_v3d &a1)
 get the rotation matrix transforming a0 to a1 and the associated gradient
static MC_matrix translation (const MC_v3d &tr)
 create translation matrix
static MC_matrix scaling (const double &s)
 create scaling matrix
static MC_matrix scaling (const double &sx, const double &sy, const double &sz)
 create scaling matrix
static std::pair< std::vector
< MC_matrix >, std::vector
< MC_matrix > > 		polar_decomposition (const std::vector< MC_matrix > &v_m)
 vector polar decomposition on multiple matrices
static MC_matrix kronecker (const MC_double_vector &v1, const MC_double_vector &v2)
 compute kronecker product between two vectors
static MC_matrix transformation (const std::string &input)
 read transformation as an string string
static std::pair< MC_v3d, MC_v3d > tensor_to_axes (const MC_matrix &T)
static MC_matrix axes_to_tensor (const MC_v3d &e0, const MC_v3d &e1)

Protected Attributes

MC_double_vector M
 the internal storage format is a vector of double
int current_size [2]
 the stored size (size_y x size_x)=(nbr_line x nbr_row) At every moment size(M)=N[0]*N[1] should be respected

Private Member Functions

void analyse_string (const std::string &to_analyse, int dim, int *start, double *increment, int *end) const
 internal string analyser for type "start:increment:end" fill start,increment and end for the first row (ex. "0:2:end" or "end-15:7:end-8") Recognisze key word ":"; "end"; "-"
void analyse_string (const char *to_analyse, int dim, int *start, double *increment, int *end) const
 internal string analyser for type "start:increment:end"

Friends

MC_matrix operator+ (const MC_matrix &M1, const double &alpha)
 add a double to every value
MC_matrix operator+ (const double &alpha, const MC_matrix &M1)
 add a double to every value
MC_matrix operator+ (const MC_matrix &M1, const MC_matrix &M2)
 add a matrix to an other (size must be compatible)
MC_matrix operator- (const MC_matrix &M1, const double &alpha)
 substract a double to every value
MC_matrix operator- (const double &alpha, const MC_matrix &M1)
 substract a double to every value
MC_matrix operator- (const MC_matrix &M1, const MC_matrix &M2)
 substract a matrix to an other (size must be compatible)
MC_matrix operator* (const MC_matrix &M1, const double &alpha)
 multiply a double to every value
MC_matrix operator* (const double &alpha, const MC_matrix &M1)
 multiply a double to every value
MC_matrix operator* (const MC_matrix &M1, const MC_matrix &M2)
 multiply two matrices (size must be compatible)
MC_matrix operator* (const MC_matrix &M1, const MC_v3d &V)
 apply a matrix to a MC_v3d vector (size_2() must be 3)
MC_double_vector operator* (const MC_matrix &M1, const MC_double_vector &v)
 apply a matrix to a MC_double_vector if size_2()==double_vec.size()
MC_matrix operator/ (const MC_matrix &M1, const double &alpha)
 divide a double to every value
MC_matrix operator/ (const double &alpha, const MC_matrix &M1)
 divide a double to every value
std::ostream & operator<< (std::ostream &stream, const MC_matrix &_M)
 output stream

Detailed Description

exception class for matrix

A Full Matrix class internal access is given by M(i,j)=M[i+j*size_i] Many internal operations are actually based on the newmat lib http://www.robertnz.net/nm_intro.htm

Definition at line 48 of file MC_matrix.hpp.

Constructor & Destructor Documentation

mesh_conv::MC_matrix::MC_matrix (  ) 

empty constructor

Definition at line 18 of file MC_matrix.cpp.

References current_size, and resize().

Referenced by add_col(), add_row(), MC_matrix(), and zeros().

00018 {current_size[0]=0;current_size[1]=0;resize(0);}

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mesh_conv::MC_matrix::MC_matrix ( const int &  size_col,
const int &  size_row 
)

zeros matrix with given size

Definition at line 20 of file MC_matrix.cpp.

References current_size, and resize().

00021 {current_size[0]=0;current_size[1]=0;resize(n,m);}

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mesh_conv::MC_matrix::MC_matrix ( const int &  size_col  ) 

zeros square matrix with given size

Definition at line 22 of file MC_matrix.cpp.

References current_size, and resize().

00023 {current_size[0]=0;current_size[1]=0;resize(n);}

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mesh_conv::MC_matrix::MC_matrix ( const MC_matrix &  size_row  ) 

copy constructor

Definition at line 61 of file MC_matrix.cpp.

References current_size, and M.

00062 {M=_M.M;for(int k_dim=0;k_dim<2;k_dim++){current_size[k_dim]=_M.current_size[k_dim];}}

mesh_conv::MC_matrix::MC_matrix ( const MC_v3d &  v  ) 

direct constructor from a MC_v3d

Definition at line 24 of file MC_matrix.cpp.

References current_size, and resize().

00025 {
00026     current_size[0]=0;current_size[1]=0;
00027     resize(3,1);
00028     for(int k=0;k<3;k++)
00029         (*this)(k,0)=v[k];
00030 }

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mesh_conv::MC_matrix::MC_matrix ( const MC_v3d &  v1,
const MC_v3d &  v2 
)

direct constructor from a MC_v3d

Definition at line 40 of file MC_matrix.cpp.

References current_size, and resize().

00041 {
00042     current_size[0]=0;current_size[1]=0;
00043     resize(3,2);
00044     for(int k_dim=0;k_dim<3;k_dim++)
00045         (*this)(k_dim,0)=v1[k_dim];
00046     for(int k_dim=0;k_dim<3;k_dim++)
00047         (*this)(k_dim,1)=v2[k_dim];
00048 }

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mesh_conv::MC_matrix::MC_matrix ( const MC_v3d &  v1,
const MC_v3d &  v2,
const MC_v3d &  v3 
)

direct constructor from a MC_v3d

Definition at line 49 of file MC_matrix.cpp.

References current_size, and resize().

00050 {
00051     current_size[0]=0;current_size[1]=0;
00052     resize(3,3);
00053     for(int k_dim=0;k_dim<3;k_dim++)
00054         (*this)(k_dim,0)=v1[k_dim];
00055     for(int k_dim=0;k_dim<3;k_dim++)
00056         (*this)(k_dim,1)=v2[k_dim];
00057     for(int k_dim=0;k_dim<3;k_dim++)
00058         (*this)(k_dim,2)=v3[k_dim];
00059 }

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mesh_conv::MC_matrix::MC_matrix ( const MC_v3d_vector &  v  ) 

direct constructor from a set of MC_v3d

Definition at line 31 of file MC_matrix.cpp.

References current_size, resize(), and mesh_conv::MC_v3d_vector::size().

00032 {
00033     current_size[0]=0;current_size[1]=0;
00034     int N=v.size();
00035     resize(3,N);
00036     for(int k=0;k<N;k++)
00037         for(int k_dim=0;k_dim<3;k_dim++)
00038             (*this)(k_dim,k)=v[k][k_dim];
00039 }

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mesh_conv::MC_matrix::MC_matrix ( const MC_double_vector &  column  ) 

direct constructor from a column vector

Definition at line 1371 of file MC_matrix.cpp.

References MC_matrix(), set_col(), and mesh_conv::MC_double_vector::size().

01372 {
01373     *this=MC_matrix(column.size(),1);
01374     set_col(0,column);
01375 }

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mesh_conv::MC_matrix::~MC_matrix (  ) 

destructor

Definition at line 64 of file MC_matrix.cpp.

References clear().

00065 {clear();}

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Member Function Documentation

MC_matrix & mesh_conv::MC_matrix::add_col ( const MC_double_vector &  col  ) 

add a column block only if size are compatibles

Definition at line 975 of file MC_matrix.cpp.

References resize(), set_col(), mesh_conv::MC_double_vector::size(), size_1(), and size_2().

00976 {
00977   if(size_1()==0 && size_2()==0)
00978     {resize(col.size(),1);return set_col(0,col);}
00979   
00980   if(size_1()!=col.size())
00981     {std::cout<<"Error in MC_matrix::add_col(double_vector), size are not compatible: matrix is ("<<size_1()<<"x"<<size_2()<<"), and column vector has size "<<col.size()<<std::endl;exit(-1);}
00982   
00983   resize(size_1(),size_2()+1);
00984   return set_col(size_2()-1,col);
00985 }

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MC_matrix & mesh_conv::MC_matrix::add_col ( const MC_v3d &  x0,
const MC_v3d &  x1,
const MC_v3d &  x2 
)

add a block of V_3D only if size if (3,n)

Definition at line 928 of file MC_matrix.cpp.

References add_col().

00929 {add_col(x0,x1); add_col(x2); return *this;
00930 }

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MC_matrix & mesh_conv::MC_matrix::add_col ( const MC_v3d &  x0,
const MC_v3d &  x1 
)

add a block of V_3D only if size if (3,n)

Definition at line 926 of file MC_matrix.cpp.

References add_col().

00927 {add_col(x0); add_col(x1); return *this;}

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MC_matrix & mesh_conv::MC_matrix::add_col ( const MC_v3d &  x0  ) 

add a block of V_3D only if size if (3,n)

Definition at line 915 of file MC_matrix.cpp.

References MC_matrix(), resize(), set_block(), size_1(), and size_2().

Referenced by add_col(), and mesh_conv::operator*().

00916 {
00917   if(size_1()!=3)
00918     {std::cout<<"Error in MC_matrix::add_col, size_1="<<size_1()<<" and must be 3"<<std::endl;exit(-1);}
00919   
00920   int Ny = size_2();
00921   resize(2,Ny+1);
00922   set_block(0,2,Ny+1,Ny+1,MC_matrix(x0));
00923 
00924   return *this;
00925 }

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MC_matrix & mesh_conv::MC_matrix::add_row ( const MC_double_vector &  col  ) 

add a column block only if size are compatibles

Definition at line 987 of file MC_matrix.cpp.

References resize(), set_row(), mesh_conv::MC_double_vector::size(), size_1(), and size_2().

00988 {
00989   if(size_1()==0 && size_2()==0)
00990     {resize(1,row.size());return set_row(0,row);}
00991   
00992   if(size_2()!=row.size())
00993     {std::cout<<"Error in MC_matrix::add_row(double_vector), size are not compatible: matrix is ("<<size_1()<<"x"<<size_2()<<"), and row vector has size "<<row.size()<<std::endl;exit(-1);}
00994   
00995   resize(size_1()+1,size_2());
00996   return set_row(size_1()-1,row);
00997 }

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MC_matrix & mesh_conv::MC_matrix::add_row ( const MC_v3d &  x0,
const MC_v3d &  x1,
const MC_v3d &  x2 
)

add a block of MC_v3d only if size if (n,3)

Definition at line 912 of file MC_matrix.cpp.

References add_row().

00913 {add_row(x0,x1); add_row(x2); return *this;}

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MC_matrix & mesh_conv::MC_matrix::add_row ( const MC_v3d &  x0,
const MC_v3d &  x1 
)

add a block of MC_v3d only if size if (n,3)

Definition at line 910 of file MC_matrix.cpp.

References add_row().

00911 {add_row(x0); add_row(x1); return *this;}

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MC_matrix & mesh_conv::MC_matrix::add_row ( const MC_v3d &  x0  ) 

add a block of MC_v3d only if size if (n,3)

Definition at line 899 of file MC_matrix.cpp.

References MC_matrix(), resize(), set_block(), size_1(), and size_2().

Referenced by add_row().

00900 {
00901   if(size_2()!=3)
00902     {std::cout<<"Error in MC_matrix::add_row, size_2="<<size_2()<<" and must be 3"<<std::endl;exit(-1);}
00903   
00904   int Nx = size_1();
00905   resize(Nx+1,3);
00906   set_block(Nx+1,Nx+1,0,2,MC_matrix(x0));
00907 
00908   return *this;
00909 }

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MC_matrix & mesh_conv::MC_matrix::add_translation ( const MC_v3d &  tr  ) 

internal add to the translation part of a matrix 4x4

Definition at line 1179 of file MC_matrix.cpp.

References M, size(), size_1(), and size_2().

Referenced by mesh_conv::MC_navigator_tool::current_cam1(), and mesh_conv::MC_navigator_tool::current_light1().

01180 {
01181     if(size_1()!=4 || size_2()!=4)
01182     {std::cout<<"Error in MC_matrix::add_translation("<<tr<<"), size of the matrix should be 4x4 and not "<<size()<<std::endl;exit(-1);}
01183     M[12]+=tr[0];M[13]+=tr[1];M[14]+=tr[2];
01184     return *this;
01185 }

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void mesh_conv::MC_matrix::analyse_string ( const char *  to_analyse,
int  dim,
int *  start,
double *  increment,
int *  end 
) const [private]

internal string analyser for type "start:increment:end"

Definition at line 358 of file MC_matrix.cpp.

References analyse_string().

00359 {analyse_string(std::string(to_analyse),dim,start,increment,end);}

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void mesh_conv::MC_matrix::analyse_string ( const std::string &  to_analyse,
int  dim,
int *  start,
double *  increment,
int *  end 
) const [private]

internal string analyser for type "start:increment:end" fill start,increment and end for the first row (ex. "0:2:end" or "end-15:7:end-8") Recognisze key word ":"; "end"; "-"

Definition at line 248 of file MC_matrix.cpp.

References size_1(), size_2(), and mesh_conv::MC_string_tokenizer::tokenize().

Referenced by analyse_string(), and operator()().

00249 {
00250   
00251   if(dim!=-1 && dim!=0 && dim!=1)
00252     {std::cout<<"Error in MC_matrix::analyse_string("<<to_analyse<<","<<dim<<", ...) dim="<<dim<<"should be 0 or 1"<<std::endl;exit(-1);}
00253   
00254   std::vector <std::string> token = mesh_conv::MC_string_tokenizer::tokenize(to_analyse,":");
00255   if(token.size()<1 || token.size()>3)
00256     {std::cout<<"Error in MC_matrix::analyse_string("<<to_analyse<<","<<dim<<", ...), cannot analyse string "<<to_analyse<<std::endl;exit(-1);}
00257 
00258   std::vector <std::string> token_start = mesh_conv::MC_string_tokenizer::tokenize(token[0],"-");
00259   std::vector <std::string> token_end = mesh_conv::MC_string_tokenizer::tokenize(token[token.size()-1],"-");
00260   int current_value=0;
00261   int temp_value=0;
00262 
00263   // special case of ":"
00264   if(to_analyse==":")
00265     {
00266       *start=0;
00267       if(dim==-1)
00268         *end=size_1()*size_2()-1;
00269       else if(dim==0)
00270         *end=size_1()-1;
00271       else
00272         *end=size_2()-1;
00273       *increment=1;
00274       return ;
00275     }
00276   // special case, only one number
00277   int number=0;
00278   if(token.size()==1)
00279   {
00280       bool is_converted=false;
00281       number = MC_string_converter::value_of<int>(to_analyse,&is_converted);
00282       if(is_converted==true)
00283       {
00284           *start=number;*end=number;*increment=1;
00285           return;
00286       }
00287   }
00288 
00289   for(unsigned int k=0;k<token_start.size();k++)
00290     {
00291       if(token_start[k]=="start")
00292         temp_value=0;
00293       else if(token_start[k]=="end")
00294           if(dim==-1)
00295               temp_value=size_1()*size_2()-1;
00296       else if(dim==0)
00297           temp_value=size_1()-1;
00298       else
00299           temp_value=size_2()-1;
00300       else
00301       {
00302           bool is_converted=false;
00303           temp_value=MC_string_converter::value_of<int>(token_start[k],&is_converted);
00304           if(is_converted==false)
00305           {std::cout<<"Error in MC_matrix::analyse_string("<<to_analyse<<","<<dim<<", ...), cannot interpret string"<<std::endl;exit(-1);}
00306       }
00307       
00308       if(k>0)
00309         current_value -= temp_value;
00310       else
00311         current_value = temp_value;
00312 
00313       *start = current_value;
00314     }
00315 
00316   current_value=0;
00317   for(unsigned int k=0;k<token_end.size();k++)
00318     {
00319       if(token_end[k]=="start")
00320         temp_value=0;
00321       else if(token_end[k]=="end")
00322         if(dim==-1)
00323           temp_value=size_1()*size_2()-1;
00324         else if(dim==0)
00325           temp_value=size_1()-1;
00326         else
00327           temp_value=size_2()-1;
00328         else
00329         {
00330             bool is_converted=false;
00331             temp_value=MC_string_converter::value_of<int>(token_end[k],&is_converted);
00332             if(is_converted==false)
00333             {std::cout<<"Error in MC_matrix::analyse_string("<<to_analyse<<","<<dim<<", ...), cannot interpret string"<<token_end[k]<<std::endl;exit(-1);}
00334         }
00335         if(k>0)
00336             current_value -= temp_value;
00337         else
00338             current_value = temp_value;
00339 
00340         *end = current_value;
00341     }
00342 
00343   if(token.size()==3)//there is an increment
00344     {
00345       bool is_converted=false;
00346       *increment = MC_string_converter::value_of <double>(token[1],&is_converted);
00347 
00348       if(is_converted==false)
00349       {std::cout<<"Error in MC_matrix::analyse_string("<<to_analyse<<","<<dim<<", ...), cannot interpret increment "<<token[1]<<std::endl;exit(-1);}
00350       return;
00351     }
00352   
00353   
00354   *increment=1;//default value
00355 
00356 }

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static MC_matrix mesh_conv::MC_matrix::axes_to_tensor ( const MC_v3d &  e0,
const MC_v3d &  e1 
) [static]
void mesh_conv::MC_matrix::check_integrity (  )  const

check if size are consistent

Returns:
nothing but exit if something is wrong

Definition at line 76 of file MC_matrix.cpp.

References current_size, M, and mesh_conv::MC_double_vector::size().

00077 {
00078   if(int(M.size())!=current_size[0]*current_size[1])
00079     {std::cout<<"Error in check_integrity in MC_matrix::check_integrity(), size of M is "<<M.size()<<", and size recorded is ("<<current_size[0]<<","<<current_size[1]<<")"<<std::endl;exit(-1);}
00080 }

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MC_matrix & mesh_conv::MC_matrix::clear (  ) 

resize to 0

Definition at line 67 of file MC_matrix.cpp.

References current_size, M, and mesh_conv::MC_double_vector::resize().

Referenced by ~MC_matrix().

00068 {
00069   M.resize(0);
00070   current_size[0]=0;
00071   current_size[1]=0;
00072   return *this;
00073 }

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MC_matrix mesh_conv::MC_matrix::componentwise ( const MC_matrix &  M1  )  const

componentwise product

Warning:
matrices must have the same size
MC_matrix mesh_conv::MC_matrix::exp_m (  )  const

get the exponential matrix

see Golub abd Van Loan [1989] and Alexa's paper on linear interpolation

Definition at line 851 of file MC_matrix.cpp.

References identity(), inverted(), norm_2(), pow_m(), size_1(), and size_2().

00852 {
00853 
00854   if(size_1()!=size_2())
00855     {std::cout<<"Error in MC_matrix::exp(), matrix is not square ("<<size_1()<<","<<size_2()<<")"<<std::endl;exit(-1);}
00856   
00857 
00858   MC_matrix A=*this;
00859   double j=std::max(double(0.0),double(1.0+floor(logf(float(A.norm_2()))/logf(2.0))));
00860 
00861 
00862   A = A*pow(2.0,-j);
00863   MC_matrix D=MC_matrix::identity(size_1());
00864   MC_matrix N=D;
00865   MC_matrix X=D;
00866   double c=1.0;
00867 
00868   int q=6;
00869   for(int k=1;k<=q;k++)
00870     {
00871       c = c*(q-k+1)/(k*(2*q-k+1));
00872       X = A*X;
00873       N = N+c*X;
00874       D = D+pow(-1.0,k)*c*X;
00875     }
00876 
00877   X = D.inverted()*N;
00878   X = X.pow_m(int(pow(2.0,j)));
00879 
00880 
00881   return X;
00882 }

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MC_double_vector mesh_conv::MC_matrix::get_col ( const int &  k_index  )  const

get a given row

Definition at line 1248 of file MC_matrix.cpp.

References mesh_conv::MC_int_vector::linspace(), size_1(), size_2(), and to_vec().

01249 {
01250     if(k_index<0 || k_index>=size_2())
01251     {std::cout<<"Error in MC_matrix::get_col("<<k_index<<"), size_2="<<size_2()<<std::endl;exit(-1);}
01252 
01253     return (*this)(MC_int_vector::linspace(0,size_1()-1),k_index).to_vec();
01254 }

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MC_double_vector mesh_conv::MC_matrix::get_row ( const int &  k_index  )  const

get a given row

Definition at line 1255 of file MC_matrix.cpp.

References mesh_conv::MC_int_vector::linspace(), size_1(), size_2(), and to_vec().

01256 {
01257     if(k_index<0 || k_index>=size_1())
01258     {std::cout<<"Error in MC_matrix::get_row("<<k_index<<"), size_1="<<size_1()<<std::endl;exit(-1);}
01259 
01260     return (*this)(k_index,MC_int_vector::linspace(0,size_2()-1)).to_vec();
01261 }

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MC_matrix mesh_conv::MC_matrix::identity ( const int &  size  )  [static]

build a square identity matrix

Definition at line 415 of file MC_matrix.cpp.

Referenced by mesh_conv::MC_mesh_index_vector::build_arrow(), mesh_conv::MC_navigator_tool::current_cam1(), mesh_conv::MC_navigator_tool::current_light1(), exp_m(), inverted(), pow_m(), rotation_axis_to_axis(), mesh_conv::MC_mesh_index_vector::sweep_surface(), to_matrix4(), transformation(), and translation().

00416 {
00417   MC_matrix temp(new_size);
00418   for(int k=0;k<new_size;k++)
00419     temp(k,k)=1;
00420   return temp;
00421 }

void mesh_conv::MC_matrix::internal_product ( MC_v4d *  to_multiply  )  const

internal product to a MC_v4d

See also:
MC_v4d::operator*=(const MC_matrix& M)
Returns:
nothing and the pointer to_multiply is set to the value M*to_multiply to goal of this function is do perform relativly fastly the product x=M*x <=> x*=M;

Definition at line 1146 of file MC_matrix.cpp.

References M, size(), size_1(), and size_2().

01147 {
01148     if(to_multiply)
01149     {
01150         double x0=(*to_multiply)[0];
01151         double x1=(*to_multiply)[1];
01152         double x2=(*to_multiply)[2];
01153         double x3=(*to_multiply)[3];
01154 
01155         if(size_1()==4 && size_2()==4)
01156         {
01157             (*to_multiply)[0]= M[0]*x0+M[4]*x1+M[8]*x2+M[12]*x3;
01158             (*to_multiply)[1]= M[1]*x0+M[5]*x1+M[9]*x2+M[13]*x3;
01159             (*to_multiply)[2]= M[2]*x0+M[6]*x1+M[10]*x2+M[14]*x3;
01160             (*to_multiply)[3]= M[3]*x0+M[7]*x1+M[11]*x2+M[15]*x3;
01161         }
01162         else
01163         {std::cout<<"Error in MC_matrix::internal_product(MC_v4d* "<<*to_multiply<<"), size of the matrix is "<<size()<<std::endl;exit(-1);}
01164 
01165     }
01166     else
01167     {std::cout<<"Error in MC_matrix::internal_product(MC_v4d* ), the pointer is null"<<std::endl;exit(-1);}
01168 }

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void mesh_conv::MC_matrix::internal_product ( MC_v3d *  to_multiply  )  const

internal product to a MC_v3d

See also:
MC_v3d::operator*=(const MC_matrix& M)
Returns:
nothing and the pointer to_multiply is set to the value M*to_multiply to goal of this function is do perform relativly fastly the product x=M*x <=> x*=M;

Definition at line 1115 of file MC_matrix.cpp.

References M, size(), size_1(), and size_2().

Referenced by mesh_conv::MC_v4d::operator*=(), and mesh_conv::MC_v3d::operator*=().

01116 {
01117     if(to_multiply)
01118     {
01119         double x0=(*to_multiply)[0];
01120         double x1=(*to_multiply)[1];
01121         double x2=(*to_multiply)[2];
01122 
01123         if(size_1()==3 && size_2()==3)
01124         {
01125 
01126             (*to_multiply)[0]= M[0]*x0+M[3]*x1+M[6]*x2;
01127             (*to_multiply)[1]= M[1]*x0+M[4]*x1+M[7]*x2;
01128             (*to_multiply)[2]= M[2]*x0+M[5]*x1+M[8]*x2;
01129             return ;
01130 
01131         }
01132         else if(size_1()==4 && size_2()==4) //add the 1 automatically
01133         {
01134             (*to_multiply)[0]= M[0]*x0+M[4]*x1+M[8]*x2+M[12];
01135             (*to_multiply)[1]= M[1]*x0+M[5]*x1+M[9]*x2+M[13];
01136             (*to_multiply)[2]= M[2]*x0+M[6]*x1+M[10]*x2+M[14];
01137         }
01138         else
01139         {std::cout<<"Error in MC_matrix::internal_product(MC_v3d* "<<*to_multiply<<"), size of the matrix is "<<size()<<std::endl;exit(-1);}
01140 
01141     }
01142     else
01143     {std::cout<<"Error in MC_matrix::internal_product(MC_v3d* ), the pointer is null"<<std::endl;exit(-1);}
01144 }

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MC_matrix mesh_conv::MC_matrix::inverted (  )  const

Invert the matrix if possible Use newmat class to invert.

if size=3x3 or 2x2 direct calculation

Definition at line 596 of file MC_matrix.cpp.

References identity(), size_1(), and size_2().

Referenced by exp_m(), lsqr_invert(), polar_decomposition(), mesh_conv::MC_polygon::projected_direction(), and mesh_conv::MC_navigator_tool::ray_world_space_cam1().

00597 {
00598     if(size_1()!=size_2())
00599     {std::cout<<"Error in MC_matrix::invertd(), matrix is not square ! ("<<size_1()<<","<<size_2()<<")"<<std::endl;exit(-1);}
00600 
00601 
00603     double epsilon=0.0000001;
00604     if(size_1()==2 && size_2()==2)
00605     {
00606         double det=(*this)(0,0)*(*this)(1,1)-(*this)(1,0)*(*this)(0,1);
00607         if(std::abs(det)<epsilon)
00608         {std::cout<<"Error in MC_matrix::inverted() (2x2), matrix has null determinant"<<std::endl;}
00609         MC_matrix res(2);
00610         res(0,0)= (*this)(1,1);
00611         res(1,0)=-(*this)(1,0);
00612         res(0,1)=-(*this)(0,1);
00613         res(1,1)= (*this)(0,0);
00614         res/=det;
00615         return res;
00616     }
00617     else if(size_1()==3 && size_2()==3)
00618     {
00619         double v00=(*this)(0,0),v01=(*this)(0,1),v02=(*this)(0,2);
00620         double v10=(*this)(1,0),v11=(*this)(1,1),v12=(*this)(1,2);
00621         double v20=(*this)(2,0),v21=(*this)(2,1),v22=(*this)(2,2);
00622 
00623         double det=
00624                 +v00*(v11*v22-v12*v21)
00625                 -v01*(v10*v22-v12*v20)
00626                 +v02*(v10*v21-v11*v20);
00627 
00628 
00629 
00630         if(std::abs(det)<epsilon)
00631         {std::cout<<"Warning in MC_matrix::inverted() (3x3), matrix has null determinant"<<std::endl;return MC_matrix::identity(3);}
00632 
00633         MC_matrix res(3);
00634         res(0,0) = v11*v22-v12*v21;
00635         res(0,1) = v02*v21-v01*v22;
00636         res(0,2) = v01*v12-v02*v11;
00637 
00638         res(1,0) = v12*v20-v10*v22;
00639         res(1,1) = v00*v22-v02*v20;
00640         res(1,2) = v02*v10-v00*v12;
00641 
00642         res(2,0) = v10*v21-v11*v20;
00643         res(2,1) = v01*v20-v00*v21;
00644         res(2,2) = v00*v11-v01*v10;
00645 
00646 
00647         res/=det;
00648         return res;
00649     }
00650     else
00651     {
00652         exit(-1);
00653 
00654     }
00655     exit(-1);
00656 
00657 }

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MC_matrix mesh_conv::MC_matrix::kronecker ( const MC_double_vector &  v1,
const MC_double_vector &  v2 
) [static]

compute kronecker product between two vectors

Definition at line 1357 of file MC_matrix.cpp.

References mesh_conv::MC_double_vector::size(), and zeros().

01358 {
01359     int N=v1.size();
01360     if(v2.size()!=N)
01361     {std::cout<<"Error in MC_matrix::kronecker(v1,v2), size are not consistent"<<std::endl;exit(-1);}
01362 
01363     MC_matrix K=MC_matrix::zeros(N);
01364     for(int k1=0;k1<N;++k1)
01365         for(int k2=0;k2<N;++k2)
01366             K(k1,k2) = v1[k1]*v2[k2];
01367     return K;
01368 
01369 }

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MC_matrix mesh_conv::MC_matrix::log_m ( int *  error_bit = 0  )  const

return the log matrix if exists See kenney and Laub [1989] and Alexa's paper on linear interpolation

MC_matrix mesh_conv::MC_matrix::lsqr_invert (  )  const

invert matrix in a least square sense

Returns:
(M^t M)^{-1) M^t

use newmat invert

Definition at line 665 of file MC_matrix.cpp.

References inverted(), and transposed().

00666 {return ( ((*this).transposed()) * (*this) ).inverted() * (*this).transposed();}

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double mesh_conv::MC_matrix::norm_2 (  )  const

get the norm_2 of the matrix return the sqrt(sum x_i^2) for every elements

Definition at line 795 of file MC_matrix.cpp.

References current_size.

Referenced by exp_m().

00796 {
00797   int k_1=0,k_2=0;
00798   double n=0.0;
00799   for(k_1=0;k_1<current_size[0];k_1++)
00800     for(k_2=0;k_2<current_size[1];k_2++)
00801       n += (*this)(k_1,k_2)*(*this)(k_1,k_2);
00802   n = pow(n,0.5);
00803 
00804   return n;
00805 }

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MC_matrix mesh_conv::MC_matrix::operator() ( const std::string &  string_index  ) 

submatrix from a vector of coordinates given by a string

Returns:
a row matrix

Definition at line 724 of file MC_matrix.cpp.

References analyse_string(), and mesh_conv::MC_int_vector::linspace().

00725 {
00726     int start=0;
00727     double increment=0;
00728     int end=0;
00729 
00730     analyse_string(string_index,-1,&start,&increment,&end);
00731     return (*this)(MC_int_vector::linspace(start,end,increment));
00732 }

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MC_matrix mesh_conv::MC_matrix::operator() ( const std::string &  string_index_1,
const std::string &  string_index_2 
)

submatrix from vector of coordinates

take the set as a tensor product

Definition at line 743 of file MC_matrix.cpp.

References analyse_string(), and mesh_conv::MC_int_vector::linspace().

00744 {
00745     int start=0,end=0;
00746     double increment=0.0;
00747 
00748     analyse_string(string_index_1,0,&start,&increment,&end);
00749     MC_int_vector index_x = MC_int_vector::linspace(start,end,increment);
00750 
00751     analyse_string(string_index_2,1,&start,&increment,&end);
00752     MC_int_vector index_y = MC_int_vector::linspace(start,end,increment);
00753 
00754     return (*this)(index_x,index_y);
00755 }

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MC_matrix mesh_conv::MC_matrix::operator() ( const MC_int_vector &  index_1,
const MC_int_vector &  index_2 
) const

submatrix from vector of coordinates

directly take the set of index_1 x index_2 as a tensor product

Definition at line 226 of file MC_matrix.cpp.

References mesh_conv::MC_int_vector::size().

00227 {
00228     MC_matrix temp_matrix;
00229 
00230     int k_index_1=0,N_index_1=index_1.size();
00231     int k_index_2=0,N_index_2=index_2.size();
00232     int current_x=0,current_y=0;
00233     for(k_index_1=0;k_index_1<N_index_1;k_index_1++)
00234     {
00235         current_x = index_1[k_index_1];
00236         for(k_index_2=0;k_index_2<N_index_2;k_index_2++)
00237         {
00238             current_y = index_2[k_index_2];
00239             temp_matrix(k_index_1,k_index_2) = (*this)(current_x,current_y);
00240         }
00241     }
00242 
00243     return temp_matrix;
00244 }

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MC_matrix mesh_conv::MC_matrix::operator() ( const MC_int_vector &  k_index  ) 

access from vector of real index in vector

Returns:
a row matrix Calculated as k1+N_1*k2

Definition at line 733 of file MC_matrix.cpp.

References mesh_conv::MC_int_vector::size().

00734 {
00735     MC_matrix new_matrix(index.size(),1);
00736     int N=index.size();
00737     for(int k=0;k<N;k++)
00738         new_matrix(k)=(*this)(index[k]);
00739     return new_matrix;
00740 
00741 }

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const double & mesh_conv::MC_matrix::operator() ( const int &  k_index  )  const

access from real index in vector

Calculated as k1+N_1*k2

Definition at line 144 of file MC_matrix.cpp.

References M, and mesh_conv::MC_double_vector::size().

00145 {
00146   if(k_index<0 || k_index>=M.size())
00147     {std::cout<<"Error in MC_matrix::operator("<<k_index<<"), size=("<<M.size()<<")"<<std::endl;exit(-1);}
00148   return M[k_index];
00149 }

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double & mesh_conv::MC_matrix::operator() ( const int &  k_index  ) 

access from real index in vector

Calculated as k1+N_1*k2

Definition at line 126 of file MC_matrix.cpp.

References M, resize(), mesh_conv::MC_double_vector::size(), size_1(), and size_2().

00127 {
00128   
00129   if(k_index<0)
00130     {std::cout<<"Error in MC_matrix::operator("<<k_index<<"), size=("<<M.size()<<")"<<std::endl;exit(-1);}
00131 
00132   if(k_index>=M.size())
00133     {
00134       if(size_2()==1)
00135         resize(k_index+1,1);
00136       else if(size_1()==1 || size_1()==0 || size_2()==0)
00137         resize(1,k_index+1);
00138       else
00139         {std::cout<<"Error in MC_matrix::operator("<<k_index<<"), size=("<<M.size()<<")"<<std::endl;exit(-1);}
00140     }
00141   return M[k_index];
00142 }

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const double & mesh_conv::MC_matrix::operator() ( const int &  k1,
const int &  k2 
) const

direct access

Definition at line 114 of file MC_matrix.cpp.

References current_size, M, mesh_conv::MC_double_vector::size(), and size().

00115 {
00116   if(k1<0 || k1>=current_size[0] || k2<0 || k2>=current_size[1])
00117     {std::cout<<"Error in MC_matrix::operator("<<k1<<","<<k2<<"), size=("<<size()<<")"<<std::endl;exit(-1);}
00118 
00119   int index=k1+current_size[0]*k2;
00120   if(index>=M.size()){std::cout<<"Error in MC_matrix::operator("<<k1<<","<<k2<<"), index="<<index<<" and size of M is "<<M.size()<<std::endl;exit(-1);}
00121 
00122   return M[index];
00123 }

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double & mesh_conv::MC_matrix::operator() ( const int &  k1,
const int &  k2 
)

direct access

Definition at line 99 of file MC_matrix.cpp.

References current_size, M, resize(), mesh_conv::MC_double_vector::size(), and size().

00100 {
00101   if(k1<0 || k2<0)
00102     {std::cout<<"Error in MC_matrix::operator("<<k1<<","<<k2<<"), size=("<<size()<<")"<<std::endl;exit(-1);}
00103 
00104   // resize if needed
00105   if(k1>=current_size[0] || k2>=current_size[1])
00106     resize(std::max(k1+1,current_size[0]),std::max(k2+1,current_size[1]));
00107 
00108   int index=k1+current_size[0]*k2;
00109   if(index>=M.size()){std::cout<<"Error in MC_matrix::operator("<<k1<<","<<k2<<"), index="<<index<<" and size of M is "<<M.size()<<std::endl;exit(-1);}
00110 
00111   return M[index];
00112 }

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MC_matrix & mesh_conv::MC_matrix::operator*= ( const MC_matrix &  M1  ) 

internal multiplication beween two matrix

Warning:
not optimized implementation

Definition at line 1214 of file MC_matrix.cpp.

01215 {
01216     *this=(*this)*M1;
01217     return *this;
01218 }

MC_matrix & mesh_conv::MC_matrix::operator*= ( const double &  a  ) 

internal multiplication by a scalar

Definition at line 828 of file MC_matrix.cpp.

References M, and mesh_conv::MC_double_vector::size().

00829 {
00830   int N=M.size();
00831   for(int k=0;k<N;k++)
00832     M[k]*=a;
00833 
00834   return *this;
00835 }

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MC_matrix & mesh_conv::MC_matrix::operator+= ( const MC_matrix &  M  ) 

internal add an other matrix

Definition at line 816 of file MC_matrix.cpp.

References M, mesh_conv::MC_double_vector::size(), size_1(), and size_2().

00817 {
00818   if(_m.size_1()!=size_1() || _m.size_2()!=size_2())
00819     {std::cout<<"Error in MC_matrix::operator+=(MC_matrix), size are not compatible ("<<size_1()<<","<<size_2()<<") != ("<<_m.size_1()<<","<<_m.size_2()<<")"<<std::endl;exit(-1);}
00820   
00821   int N=M.size();
00822   for(int k=0;k<N;k++)
00823     M[k]+=_m(k);
00824 
00825   return *this;
00826 }

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MC_matrix & mesh_conv::MC_matrix::operator+= ( const double &  a  ) 

internal add a scalar value

Definition at line 808 of file MC_matrix.cpp.

References M, and mesh_conv::MC_double_vector::size().

00809 {
00810   int N=M.size();
00811   for(int k=0;k<N;k++)
00812     M[k]+=a;
00813   return *this;
00814 }

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MC_matrix & mesh_conv::MC_matrix::operator/= ( const double &  a  ) 

internal division by a scalar

Definition at line 837 of file MC_matrix.cpp.

References M, and mesh_conv::MC_double_vector::size().

00838 {
00839   double epsilon=0.00000001;
00840   if(std::abs(a)<epsilon)
00841     {std::cout<<"Error in MC_matrix::operator/=("<<a<<"), divide by zero"<<std::endl;exit(-1);}
00842 
00843   int N=M.size();
00844   for(int k=0;k<N;k++)
00845     M[k]/=a;
00846 
00847   return *this;
00848 }

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const double * mesh_conv::MC_matrix::pointer (  )  const

get the pointer on the value

Warning:
use with care

Definition at line 1211 of file MC_matrix.cpp.

References M, and mesh_conv::MC_double_vector::pointer().

Referenced by display_callback(), draw_orientation(), and draw_pointer().

01212 {return M.pointer();}

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std::pair< std::vector< MC_matrix >, std::vector< MC_matrix > > mesh_conv::MC_matrix::polar_decomposition ( const std::vector< MC_matrix > &  v_m  )  [static]

vector polar decomposition on multiple matrices

See also:
std::pair<MC_matrix,MC_matrix> polar_decomposition() const;
Returns:
the set of <Rotation,U_value>

Definition at line 1014 of file MC_matrix.cpp.

01015 {
01016   std::pair <std::vector<MC_matrix>,std::vector<MC_matrix> > ret;
01017   int N=v_m.size();
01018   ret.first.resize(N);
01019   ret.second.resize(N);
01020 
01021   for(int k=0;k<N;k++)
01022     {
01023       std::pair <MC_matrix,MC_matrix> temp_polar=v_m[k].polar_decomposition();
01024       ret.first[k]=temp_polar.first;
01025       ret.second[k]=temp_polar.second;
01026     }
01027   return ret;
01028 }

std::pair< MC_matrix, MC_matrix > mesh_conv::MC_matrix::polar_decomposition (  )  const

get polar decomposition of the matrix [R,U] with M=R.U

Returns:
return M=R.U using [Higham 86] iteration method (faster than SVD decomposition : M=SDV^t => R=SV^t)

Definition at line 932 of file MC_matrix.cpp.

References counter, inverted(), and transposed().

00933 {
00934   int counter=0;
00935   int max_counter=2000;
00936   bool loop_finished=false;
00937 
00938   MC_matrix R0=*this;
00939   MC_matrix R1;
00940   double epsilon=0.000001;
00941 
00942   while(loop_finished==false)
00943     {
00944 
00945       R1 = 0.5*(R0+R0.inverted().transposed());
00946 
00947       counter++;
00948       if(counter>=max_counter || (R1-R0).norm_2()<epsilon)
00949         loop_finished=true;
00950       else
00951         R0=R1;
00952     }
00953   
00954   if(counter>=max_counter)
00955     {std::cout<<"Error in MC_matrix::polar_decomposition(), no convergence"<<std::endl;exit(-1);}
00956 
00957   MC_matrix U = R1.inverted()*(*this);
00958 
00959   return std::pair<MC_matrix,MC_matrix>(R1,U);
00960 }

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MC_matrix mesh_conv::MC_matrix::pow_m ( const int &  k_pow  )  const

return the log matrix if exists without the error_bit

See also:
MC_matrix log_m(int *error_bit) const; power of the matrix (with an integer)

Definition at line 884 of file MC_matrix.cpp.

References identity(), size_1(), and size_2().

Referenced by exp_m().

00885 {
00886   if(size_1()!=size_2())
00887     {std::cout<<"Error in MC_matrix::pow(), matrix is not square ("<<size_1()<<","<<size_2()<<")"<<std::endl;exit(-1);}
00888 
00889   if(k_pow<0)
00890     {std::cout<<"Error in MC_matrix::pow("<<k_pow<<"), k_pow must be positiv"<<std::endl;exit(-1);}
00891 
00892   MC_matrix Res = MC_matrix::identity(size_1());
00893   for(int k=0;k<k_pow;k++)
00894     Res = Res*(*this);
00895   return Res;
00896 }

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MC_matrix mesh_conv::MC_matrix::repmat ( const MC_int_vector &  k_repeat  )  const

repeat matrix by block

Definition at line 443 of file MC_matrix.cpp.

References repmat(), and mesh_conv::MC_int_vector::size().

00444 {
00445     if(k_repeat.size()!=2)
00446     {std::cout<<"Error in MC_matrix::repmat("<<k_repeat<<"), size must be 2"<<std::endl;exit(-1);}
00447     return repmat(k_repeat[0],k_repeat[1]);
00448 }

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MC_matrix mesh_conv::MC_matrix::repmat ( const int &  k_repeat_1,
const int &  k_repeat_2 
) const

repeat matrix by block

Definition at line 449 of file MC_matrix.cpp.

References mesh_conv::MC_int_vector::linspace(), set_block(), size_1(), and size_2().

00450 {
00451     MC_matrix new_matrix(k_repeat_1*size_1(),k_repeat_2*size_2());
00452 
00453     MC_int_vector L1,L2;
00454     int k1=0,k2=0;
00455     for(k1=0;k1<k_repeat_1;k1++)
00456     {
00457         L1 = MC_int_vector::linspace(k1*size_1(),(k1+1)*size_1()-1);
00458         for(k2=0;k2<k_repeat_2;k2++)
00459         {
00460             L2 = MC_int_vector::linspace(k2*size_2(),(k2+1)*size_2()-1);
00461             new_matrix.set_block(L1,L2,(*this));
00462         }
00463     }
00464     return new_matrix;
00465 }

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MC_matrix mesh_conv::MC_matrix::repmat ( const int &  k_repeat  )  const

repeat matrix by block

repeat k_reapeat times in x and y

Definition at line 441 of file MC_matrix.cpp.

Referenced by repmat(), repmat_1(), and repmat_2().

00442 {return repmat(k_repeat,k_repeat);}

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MC_matrix mesh_conv::MC_matrix::repmat_1 ( const int &  k_repeat_1  )  const

repeat matrix by block in x direction

Definition at line 467 of file MC_matrix.cpp.

References repmat().

00467 {return repmat(k_repeat_1,1);}

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MC_matrix mesh_conv::MC_matrix::repmat_2 ( const int &  k_repeat_2  )  const

repeat matrix by block in y direction

Definition at line 468 of file MC_matrix.cpp.

References repmat().

00468 {return repmat(1,k_repeat_2);}

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MC_matrix mesh_conv::MC_matrix::reshaped ( const int &  new_size_1,
const int &  new_size_2 
) const

reshape the matrix with a constant total size

Definition at line 395 of file MC_matrix.cpp.

References reshaped().

00396 {return reshaped(MC_int_vector(new_size_1,new_size_2));}

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MC_matrix mesh_conv::MC_matrix::reshaped ( const MC_int_vector &  new_size  )  const

reshape the matrix with a constant total size

Definition at line 376 of file MC_matrix.cpp.

References current_size, M, and mesh_conv::MC_double_vector::size().

Referenced by reshaped(), reshaped_1(), and reshaped_2().

00377 {
00378     // if do nothing
00379     if(new_size[0]==current_size[0] && new_size[1]==current_size[1])
00380         return *this;
00381 
00382   if(new_size[0]*new_size[1] != M.size())
00383     {std::cout<<"Error in MC_matrix::reshape("<<new_size<<"), total size should be "<<M.size()<<std::endl;exit(-1);}
00384 
00385   MC_matrix temp_matrix(new_size[0],new_size[1]);
00386 
00387   int k1=0,k2=0;
00388   int count=0;
00389   for(k2=0;k2<new_size[1];k2++)
00390     for(k1=0;k1<new_size[2];k1++)
00391       temp_matrix(k1,k2) = M[count++];
00392 
00393   return temp_matrix;
00394 }

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MC_matrix mesh_conv::MC_matrix::reshaped_1 ( const int &  size_1  )  const

reshape the matrix with a constant total size

Definition at line 361 of file MC_matrix.cpp.

References M, reshaped(), and mesh_conv::MC_double_vector::size().

00362 {
00363   int N=M.size();
00364   if(N%new_size_1 != 0)
00365     {std::cout<<"Error in MC_matrix::reshape_1("<<new_size_1<<") in MC_matrix, total size "<<M.size()<<" are not compatible"<<std::endl;exit(-1);}
00366   return reshaped(new_size_1,N/new_size_1);
00367 }

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MC_matrix mesh_conv::MC_matrix::reshaped_2 ( const int &  size_2  )  const

reshape the matrix with a constant total size

Definition at line 369 of file MC_matrix.cpp.

References M, reshaped(), and mesh_conv::MC_double_vector::size().

00370 {
00371   int N=M.size();
00372   if(N%new_size_2 != 0)
00373   {std::cout<<"Error in MC_matrix::reshape_2("<<new_size_2<<") in MC_matrix, total size "<<M.size()<<" are not compatible"<<std::endl;exit(-1);}
00374   return reshaped(N/new_size_2,new_size_2);
00375 }

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MC_matrix & mesh_conv::MC_matrix::resize ( const int &  size_1,
const int &  size_2 = -1 
)

internal resize the matrix (if size_2==-1 by default, resize a square matrix)

Definition at line 181 of file MC_matrix.cpp.

References resize().

00182 {resize(MC_int_vector(new_size_1,new_size_2));return *this;}

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MC_matrix & mesh_conv::MC_matrix::resize ( const MC_int_vector &  new_size  ) 

internal resize the matrix

Definition at line 151 of file MC_matrix.cpp.

References current_size, M, and zeros().

Referenced by add_col(), add_row(), MC_matrix(), operator()(), resize(), resize_1(), and resize_2().

00152 {
00153 
00154     // do not change anything
00155     if( (new_size[0]==current_size[0]) && ((new_size[1]==current_size[1]) || (new_size[1]==-1&&new_size[0]==current_size[1])))
00156         return *this;
00157 
00158     MC_int_vector temp_new_size=new_size;
00159     if(new_size[1]==-1)
00160             temp_new_size[1]=temp_new_size[0];
00161 
00162     // copy
00163     MC_double_vector new_matrix=MC_double_vector::zeros(std::max(temp_new_size[0],current_size[0])*std::max(temp_new_size[1],current_size[1]));
00164 
00165     int L1=std::min(temp_new_size[0],current_size[0]);
00166     int L2=std::min(temp_new_size[1],current_size[1]);
00167     for(int k_1=0;k_1<L1;k_1++)
00168         for(int k_2=0;k_2<L2;k_2++)
00169             new_matrix[k_1+k_2*temp_new_size[0]] = M[k_1+k_2*current_size[0]];
00170 
00171 
00172     // record it
00173     M=new_matrix;
00174     current_size[0]=temp_new_size[0];
00175     current_size[1]=temp_new_size[1];
00176 
00177 
00178     return *this;
00179 
00180 }

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MC_matrix & mesh_conv::MC_matrix::resize_1 ( const int &  size_1  ) 

internal resize only in x

Definition at line 184 of file MC_matrix.cpp.

References resize(), and size_2().

00185 {resize(new_size_1,size_2());return *this;}

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MC_matrix & mesh_conv::MC_matrix::resize_2 ( const int &  size_2  ) 

internal resize only in y

Definition at line 186 of file MC_matrix.cpp.

References resize(), and size_1().

00187 {resize(size_1(),new_size_2);return *this;}

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MC_matrix mesh_conv::MC_matrix::rotation ( const MC_v3d &  axis,
const double &  angle 
) [static]

init to a rotation matrix

axis of the rotation (normalized inside) angle in radians

Definition at line 757 of file MC_matrix.cpp.

References mesh_conv::MC_v3d::normalized().

Referenced by transformation().

00758 {
00759   MC_v3d n=_n.normalized();
00760 
00761 
00762 
00763   double cos_t = cos(angle);
00764   double sin_t = sin(angle);
00765 
00766   MC_matrix R(3,3);
00767 
00768   R(0,0) = cos_t+n[0]*n[0]*(1-cos_t);
00769   R(1,0) = n[2]*sin_t+n[0]*n[1]*(1-cos_t);
00770   R(2,0) =-n[1]*sin_t+n[0]*n[2]*(1-cos_t);
00771 
00772   R(0,1) = n[0]*n[1]*(1-cos_t)-n[2]*sin_t;
00773   R(1,1) = cos_t+n[1]*n[1]*(1.0-cos_t);
00774   R(2,1) = n[0]*sin_t+n[1]*n[2]*(1-cos_t);
00775 
00776   R(0,2) = n[1]*sin_t+n[0]*n[2]*(1-cos_t);
00777   R(1,2) =-n[0]*sin_t+n[1]*n[2]*(1-cos_t);
00778   R(2,2) = cos_t+n[2]*n[2]*(1-cos_t);
00779   
00780   return R;
00781 }

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MC_matrix mesh_conv::MC_matrix::rotation_axis_to_axis ( const MC_v3d &  a1,
const MC_v3d &  a2 
) [static]

build a rotation matrix transforming an axis a1 into an axis a2

Get rotation matrix R such that R a1 = a2 Automaticaly works on normalized axis

Definition at line 685 of file MC_matrix.cpp.

References mesh_conv::MC_v3d::cross(), mesh_conv::MC_v3d::dot(), identity(), mesh_conv::MC_v3d::norm(), and mesh_conv::MC_v3d::normalized().

Referenced by mesh_conv::MC_mesh_index_vector::build_arrow(), mesh_conv::MC_mesh_index_vector::build_square(), mesh_conv::MC_polygon::projected_direction(), mesh_conv::MC_curve::skinning(), and mesh_conv::MC_mesh_index_vector::sweep_surface().

00686 {
00687 
00688   MC_v3d v0,v1;
00689   v0 = a1.normalized();
00690   v1 = a2.normalized();
00691 
00692   MC_v3d n = (v0.cross(v1));
00693   if(n.norm()<0.00001)
00694   {
00695       return MC_matrix::identity(3);
00696       //std::cout<<"Warning in MC_matrix::rotation_axis_to_axis("<<a1<<","<<a2<<"), parralel vector or norm is null, axis of rotation has norm="<<n.norm()<<std::endl;
00697   }
00698   n=n.normalized();
00699 
00700   double cos_t = v0.dot(v1);
00701   double sin_t = pow(fabs(1.0-cos_t*cos_t),0.5);
00702 
00703   MC_matrix R(3,3);
00704   R(0,0) = cos_t+n[0]*n[0]*(1-cos_t);
00705   R(1,0) = n[2]*sin_t+n[0]*n[1]*(1-cos_t);
00706   R(2,0) =-n[1]*sin_t+n[0]*n[2]*(1-cos_t);
00707 
00708   R(0,1) = n[0]*n[1]*(1-cos_t)-n[2]*sin_t;
00709   R(1,1) = cos_t+n[1]*n[1]*(1.0-cos_t);
00710   R(2,1) = n[0]*sin_t+n[1]*n[2]*(1-cos_t);
00711 
00712   R(0,2) = n[1]*sin_t+n[0]*n[2]*(1-cos_t);
00713   R(1,2) =-n[0]*sin_t+n[1]*n[2]*(1-cos_t);
00714   R(2,2) = cos_t+n[2]*n[2]*(1-cos_t);
00715 
00716   return R;
00717 
00718 }

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std::pair< MC_matrix, std::vector< MC_matrix > > mesh_conv::MC_matrix::rotation_axis_to_axis_with_gradient ( const MC_v3d &  a0,
const MC_v3d &  a1 
) [static]

get the rotation matrix transforming a0 to a1 and the associated gradient

Returns:
the rotation matrix R
the gradient (dR/da0[0],dR/da0[1],dR/da0[2],dR/da1[0],dR/da1[1],dR/da1[2])
Warning:
(a0,a1) have to be normalized before being used

Definition at line 1031 of file MC_matrix.cpp.

References mesh_conv::MC_v3d_vector::component(), mesh_conv::MC_v3d::cross(), mesh_conv::MC_v3d::dot(), and mesh_conv::MC_v3d::norm().

01032 {
01033   double epsilon=0.00001;
01034   if(abs(a0.norm()-1.0)>epsilon || abs(a1.norm()-1.0)>epsilon)
01035     {std::cout<<"Error in rotation_axis_to_axis_with_gradient(), vector are not of norm 1"<<std::endl;exit(-1);}
01036 
01037 
01038   std::pair <MC_v3d,MC_v3d_vector> n_grad = (a0.cross(a1)).normalized_with_gradient();
01039   MC_v3d n =n_grad.first;
01040   MC_v3d_vector gradient_normal=n_grad.second;
01041 
01042   double cos_t=a0.dot(a1);
01043   double sin_t=pow(abs(1-cos_t*cos_t),0.5);
01044   
01045   MC_matrix R(3,3);
01046   R(0,0) = cos_t+n[0]*n[0]*(1-cos_t);
01047   R(1,0) = n[2]*sin_t+n[0]*n[1]*(1-cos_t);
01048   R(2,0) =-n[1]*sin_t+n[0]*n[2]*(1-cos_t);
01049 
01050   R(0,1) = n[0]*n[1]*(1-cos_t)-n[2]*sin_t;
01051   R(1,1) = cos_t+n[1]*n[1]*(1.0-cos_t);
01052   R(2,1) = n[0]*sin_t+n[1]*n[2]*(1-cos_t);
01053 
01054   R(0,2) = n[1]*sin_t+n[0]*n[2]*(1-cos_t);
01055   R(1,2) =-n[0]*sin_t+n[1]*n[2]*(1-cos_t);
01056   R(2,2) = cos_t+n[2]*n[2]*(1-cos_t);
01057 
01058 
01059   double x00=a0[0],x01=a0[1],x02=a0[2];
01060   double x10=a1[0],x11=a1[1],x12=a1[2];
01061 
01062 
01063   // nabla cos(t)
01064   MC_double_vector nabla_c=MC_double_vector(x10)<<x11<<x12<<x00<<x01<<x02;
01065   // nabla sin(t)
01066   MC_double_vector nabla_s=-cos_t/(sin_t+epsilon)*nabla_c;
01067 
01068 
01069   // nabla nx
01070   MC_double_vector nabla_nx=MC_double_vector(0.0)<<x12<<-x11<<0.0<<-x02<<x01;
01071   // nabla ny
01072   MC_double_vector nabla_ny=MC_double_vector(-x12)<<0.0<<x10<<x02<<0.0<<-x00;
01073   // nabla nz
01074   MC_double_vector nabla_nz=MC_double_vector(x11)<<-x10<<0.0<<-x01<<x00<<0.0;
01075 
01076 
01077 
01078   MC_v3d_vector gradient_normalized(6);
01079   for(int k=0;k<6;k++)
01080     for(int k_dim=0;k_dim<3;k_dim++)
01081       gradient_normalized[k][k_dim]=gradient_normal[k_dim].dot(MC_v3d(nabla_nx[k],nabla_ny[k],nabla_nz[k]));
01082 
01083 
01084   nabla_nx=gradient_normalized.component(0);
01085   nabla_ny=gradient_normalized.component(1);
01086   nabla_nz=gradient_normalized.component(2);
01087 
01088 
01089   //voir calculs
01090   std::vector <MC_matrix> nabla_R(6);
01091   for(int k=0;k<6;k++)
01092     {
01093       nabla_R[k].resize(3,3);
01094 
01095       
01096       nabla_R[k](0,0) = nabla_c[k]+2*n[0]*(1-cos_t)*nabla_nx[k]-n[0]*n[0]*nabla_c[k];
01097       nabla_R[k](1,0) = sin_t*nabla_nz[k]+n[2]*nabla_s[k]+n[1]*(1-cos_t)*nabla_nx[k]+n[0]*(1-cos_t)*nabla_ny[k]-n[0]*n[1]*nabla_c[k];
01098       nabla_R[k](2,0) = -sin_t*nabla_ny[k]-n[1]*nabla_s[k]+n[2]*(1-cos_t)*nabla_nx[k]+n[0]*(1-cos_t)*nabla_nz[k]-n[0]*n[2]*nabla_c[k];
01099 
01100 
01101       nabla_R[k](0,1) = nabla_nx[k]*n[1]*(1-cos_t)+n[0]*(1-cos_t)*nabla_ny[k]-n[0]*n[1]*nabla_c[k]-sin_t*nabla_nz[k]-n[2]*nabla_s[k];
01102       nabla_R[k](1,1) = nabla_c[k]+2*n[1]*(1-cos_t)*nabla_ny[k]-n[1]*n[1]*nabla_c[k];
01103       nabla_R[k](2,1) = sin_t*nabla_nx[k]+n[0]*nabla_s[k]+n[2]*(1-cos_t)*nabla_ny[k]+n[1]*(1-cos_t)*nabla_nz[k]-n[1]*n[2]*nabla_c[k];
01104 
01105       nabla_R[k](0,2) = sin_t*nabla_ny[k]+n[1]*nabla_s[k]+n[2]*(1-cos_t)*nabla_nx[k]+n[0]*(1-cos_t)*nabla_nz[k]-n[0]*n[2]*nabla_c[k];
01106       nabla_R[k](1,2) = -sin_t*nabla_nx[k]-n[0]*nabla_s[k]+n[2]*(1-cos_t)*nabla_ny[k]+n[1]*(1-cos_t)*nabla_nz[k]-n[1]*n[2]*nabla_c[k];
01107       nabla_R[k](2,2) = nabla_c[k]+2*n[2]*(1-cos_t)*nabla_nz[k]-n[2]*n[2]*nabla_c[k];
01108     
01109 
01110     }
01111 
01112   return std::pair <MC_matrix,std::vector <MC_matrix> > (R,nabla_R);
01113 }

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static MC_matrix mesh_conv::MC_matrix::rotation_registration ( const MC_matrix &  X,
const MC_matrix &  X0 
) [static]

get the best rotation between a set of points

Use registration method to find rotation: Let's X, X0 be the 3D position in a matrix form Find R such that R X = X0 in the best way for froebenius norm. R = S V^t, with S.D.V^t = X X0^{t}.

MC_matrix mesh_conv::MC_matrix::scaling ( const double &  sx,
const double &  sy,
const double &  sz 
) [static]

create scaling matrix

Definition at line 1344 of file MC_matrix.cpp.

References M.

01345 {
01346     MC_matrix M(3);
01347     M(0,0)=sx;M(1,1)=sy;M(2,2)=sz;
01348     return M;
01349 }

MC_matrix mesh_conv::MC_matrix::scaling ( const double &  s  )  [static]

create scaling matrix

Definition at line 1339 of file MC_matrix.cpp.

Referenced by transformation().

01340 {
01341     return MC_matrix::scaling(s,s,s);
01342 }

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MC_matrix & mesh_conv::MC_matrix::set_block ( const int &  start_x,
const int &  end_x,
const int &  start_y,
const int &  end_y,
const MC_matrix &  block 
)

set a block of matrix

block size must correspond to size of index_1 and 2

Definition at line 438 of file MC_matrix.cpp.

References mesh_conv::MC_int_vector::linspace(), and set_block().

00439 {return set_block(MC_int_vector::linspace(start_x,end_x),MC_int_vector::linspace(start_y,end_y),block);}

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MC_matrix & mesh_conv::MC_matrix::set_block ( const MC_int_vector &  index_1,
const MC_int_vector &  index_2,
const MC_matrix &  block 
)

set a block of matrix

block size must correspond to size of index_1 and 2

Definition at line 423 of file MC_matrix.cpp.

References mesh_conv::MC_int_vector::size(), size_1(), and size_2().

Referenced by add_col(), add_row(), mesh_conv::MC_quaternion::quat_interp(), repmat(), set_block(), and to_matrix4().

00424 {
00425   int k1=0,N1=index_1.size();
00426   int k2=0,N2=index_2.size();
00427 
00428   if(N1!=block.size_1() || N2!=block.size_2())
00429     {std::cout<<"Error in MC_matrix::set_block(MC_int_vector,MC_int_vector,MC_matrix), size are not compatible ("<<N1<<","<<N2<<") - ("<<block.size_1()<<","<<block.size_2()<<")"<<std::endl;exit(-1);}
00430 
00431   for(k1=0;k1<N1;k1++)
00432     for(k2=0;k2<N2;k2++)
00433       (*this)(index_1[k1],index_2[k2])=block(k1,k2);
00434 
00435   return *this;
00436 }

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MC_matrix & mesh_conv::MC_matrix::set_col ( const int &  id_col,
const MC_double_vector &  col 
)

set a full column given a double_vector

resize the matrix if needed

Definition at line 999 of file MC_matrix.cpp.

References mesh_conv::MC_double_vector::size().

Referenced by add_col(), and MC_matrix().

01000 {
01001   int N=col.size();
01002   for(int k=0;k<N;k++)
01003     (*this)(k,id_col)=col(k);
01004   return *this;
01005 }

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MC_matrix & mesh_conv::MC_matrix::set_rotation ( const MC_matrix &  m  ) 

set the rotation (block 3x3) part of a matrix 4x4 or 3x3

Definition at line 1227 of file MC_matrix.cpp.

References M, size(), size_1(), and size_2().

01228 {
01229     if( !((size_1()==4 && size_2()==4) || (size_1()==3 && size_2()==3)) )
01230     {std::cout<<"Error in MC_matrix::set_rotation("<<m<<"), size of the matrix should be 4x4 or 3x3 and not "<<size()<<std::endl;exit(-1);}
01231     for(int k1=0;k1<3;++k1)
01232         for(int k2=0;k2<3;++k2)
01233             M[k1+4*k2]=m(k1,k2);
01234     return *this;
01235 }

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MC_matrix & mesh_conv::MC_matrix::set_row ( const int &  id_row,
const MC_double_vector &  row 
)

set a full row given a double_vector resize the matrix if needed

Definition at line 1006 of file MC_matrix.cpp.

References mesh_conv::MC_double_vector::size().

Referenced by add_row().

01007 {
01008   int N=row.size();
01009   for(int k=0;k<N;k++)
01010     (*this)(id_row,k)=row(k);
01011   return *this;
01012 }

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MC_matrix & mesh_conv::MC_matrix::set_translation ( const MC_v3d &  tr  ) 

set the translation part of a matrix 4x4

Definition at line 1220 of file MC_matrix.cpp.

References M, size(), size_1(), and size_2().

Referenced by mesh_conv::MC_v3d_vector::scaled_to_unit_and_center(), and translation().

01221 {
01222     if(size_1()!=4 || size_2()!=4)
01223     {std::cout<<"Error in MC_matrix::set_translation("<<tr<<"), size of the matrix should be 4x4 and not "<<size()<<std::endl;exit(-1);}
01224     M[12]=tr[0];M[13]=tr[1];M[14]=tr[2];
01225     return *this;
01226 }

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MC_int_vector mesh_conv::MC_matrix::size (  )  const

get both sizes

Definition at line 85 of file MC_matrix.cpp.

References current_size.

Referenced by add_translation(), internal_product(), operator()(), mesh_conv::operator*(), set_rotation(), set_translation(), size_vec(), to_matrix3(), to_matrix4(), and translation_part().

00086 {return MC_int_vector(current_size[0],current_size[1]);}

int mesh_conv::MC_matrix::size_1 (  )  const

get size 1

Definition at line 83 of file MC_matrix.cpp.

References current_size.

Referenced by add_col(), add_row(), add_translation(), analyse_string(), exp_m(), get_col(), get_row(), internal_product(), inverted(), mesh_conv::MC_v3d::MC_v3d(), mesh_conv::MC_v4d::MC_v4d(), operator()(), mesh_conv::operator*(), mesh_conv::operator+(), operator+=(), mesh_conv::operator-(), mesh_conv::operator/(), mesh_conv::operator<<(), pow_m(), repmat(), resize_2(), set_block(), set_rotation(), set_translation(), to_double(), to_matrix3(), to_matrix4(), trace(), translation_part(), and transposed().

00083 {return current_size[0];}

int mesh_conv::MC_matrix::size_2 (  )  const

get size 2

Definition at line 84 of file MC_matrix.cpp.

References current_size.

Referenced by add_col(), add_row(), add_translation(), analyse_string(), exp_m(), get_col(), get_row(), internal_product(), inverted(), mesh_conv::MC_v3d::MC_v3d(), mesh_conv::MC_v4d::MC_v4d(), operator()(), mesh_conv::operator*(), mesh_conv::operator+(), operator+=(), mesh_conv::operator-(), mesh_conv::operator/(), mesh_conv::operator<<(), pow_m(), repmat(), resize_1(), set_block(), set_rotation(), set_translation(), to_double(), to_matrix3(), to_matrix4(), trace(), translation_part(), and transposed().

00084 {return current_size[1];}

int mesh_conv::MC_matrix::size_vec (  )  const

get size for a vector

must be a vector

Definition at line 87 of file MC_matrix.cpp.

References current_size, and size().

00088 {
00090   if(current_size[1]==1)
00091     return current_size[0];
00092   else if(current_size[0]==1)
00093     return current_size[1];
00094 
00095   std::cout<<"Error in MC_matrix::size_vec(), matrix is not a vector (size=("<<size()<<"))"<<std::endl;
00096   exit(-1);
00097 }

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static std::pair<MC_v3d,MC_v3d> mesh_conv::MC_matrix::tensor_to_axes ( const MC_matrix &  T  )  [static]
const double & mesh_conv::MC_matrix::to_double (  )  const

return a double if size are ok (size_1()==1 && size_2()==1)

Definition at line 786 of file MC_matrix.cpp.

References M, size_1(), and size_2().

00787 {
00788   if(size_1()==1 && size_2()==1)
00789     return M[0];
00790   else
00791     {std::cout<<"Error in MC_matrix::to_double(), size are not compatible (1,1) => ("<<size_1()<<","<<size_2()<<")"<<std::endl; exit(-1);}
00792 
00793 }

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std::pair< MC_matrix, MC_v3d > mesh_conv::MC_matrix::to_matrix3 (  )  const

transform a 4x4 projective matrix transform into a 3x3 by resizing

Returns:
<MC_matrix: 3x3 matrix ,MC_v3d the translation>

Definition at line 1202 of file MC_matrix.cpp.

References size(), size_1(), and size_2().

Referenced by mesh_conv::MC_navigator_tool::axis_cam1(), mesh_conv::MC_navigator_tool::axis_light1(), mesh_conv::MC_navigator_tool::current_cam1(), mesh_conv::MC_navigator_tool::current_light1(), mesh_conv::MC_navigator_tool::ray_world_space_cam1(), and set_light().

01203 {
01204     if(size_1()==3 && size_2()==3)
01205         return std::pair <MC_matrix,MC_v3d> (*this,MC_v3d(0,0,0));
01206     else if(size_1()==4 && size_2()==4)
01207         return std::pair <MC_matrix,MC_v3d> ((*this)(MC_int_vector(0,1,2),MC_int_vector(0,1,2)),(*this)(MC_int_vector(0,1,2),3));
01208     else
01209     {std::cout<<"Error in MC_matrix::to_matrix3(), size must be 4x4 and not "<<size()<<std::endl;exit(-1);}
01210 }

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MC_matrix mesh_conv::MC_matrix::to_matrix4 (  )  const

transform a 3x3 affine matrix into a 4x4 projective one (M[4][4]=1)

Definition at line 1188 of file MC_matrix.cpp.

References identity(), set_block(), size(), size_1(), and size_2().

Referenced by mesh_conv::MC_navigator_tool::current_cam1(), mesh_conv::MC_navigator_tool::current_light1(), display_callback(), draw_orientation(), and draw_pointer().

01189 {
01190     if(size_1()==4 && size_2()==4)
01191         return *this;
01192     else if(size_1()==3 && size_2()==3)
01193     {
01194         MC_matrix m4=MC_matrix::identity(4);
01195         m4.set_block(0,2,0,2,*this);
01196         return m4;
01197     }
01198     else
01199     {std::cout<<"Error in MC_matrix::to_matrix4(), size must be 3x3 and not "<<size()<<std::endl;exit(-1);}
01200 
01201 }

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std::string mesh_conv::MC_matrix::to_string (  )  const

export matrix as string

Definition at line 1351 of file MC_matrix.cpp.

01352 {
01353     std::stringstream stream;stream<<*this;
01354     return stream.str();
01355 }

const MC_double_vector & mesh_conv::MC_matrix::to_vec (  )  const

return a vector of the matrix (similar to M(:))

Definition at line 1245 of file MC_matrix.cpp.

References M.

Referenced by get_col(), get_row(), and mesh_conv::operator*().

01246 {return M;}

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double mesh_conv::MC_matrix::trace (  )  const

get trace

Definition at line 962 of file MC_matrix.cpp.

References size_1(), and size_2().

Referenced by mesh_conv::MC_triangle::inertia().

00963 {
00964   if(size_1()!=size_2())
00965     {std::cout<<"Error in MC_matrix::trace(), not a square matrix"<<std::endl;exit(-1);}
00966 
00967   double tr=0.0;
00968   for(int k=0;k<size_1();k++)
00969     tr += (*this)(k,k);
00970 
00971   return tr;
00972   
00973 }

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MC_matrix mesh_conv::MC_matrix::transformation ( const std::string &  input  )  [static]

read transformation as an string string

Definition at line 1267 of file MC_matrix.cpp.

References counter, mesh_conv::MC_string_converter::delete_empty(), identity(), rotation(), scaling(), mesh_conv::MC_string_tokenizer::tokenize(), and translation().

01268 {
01269     std::vector<std::string> v_input=MC_string_converter::delete_empty(MC_string_tokenizer::tokenize(input,"<>,;: "));
01270     int counter=0;
01271     int N=v_input.size();
01272     //for(int k=0;k<N;++k)
01273     //    std::cout<<" -- "<<v_input[k]<<std::endl;
01274 
01275     while(counter<N)
01276     {
01277         if(v_input[counter]=="rotation")
01278         {
01279             if(counter+4<N)
01280             {
01281                 //read axis and angle
01282                 double x=MC_string_converter::value_of<double>(v_input[counter+1]);
01283                 double y=MC_string_converter::value_of<double>(v_input[counter+2]);
01284                 double z=MC_string_converter::value_of<double>(v_input[counter+3]);
01285                 double theta=MC_string_converter::value_of<double>(v_input[counter+4]);
01286 
01287                 return MC_matrix::rotation(MC_v3d(x,y,z),theta);
01288             }
01289         }
01290         if(v_input[counter]=="translation")
01291         {
01292             if(counter+3<N)
01293             {
01294                 double x=MC_string_converter::value_of<double>(v_input[counter+1]);
01295                 double y=MC_string_converter::value_of<double>(v_input[counter+2]);
01296                 double z=MC_string_converter::value_of<double>(v_input[counter+3]);
01297 
01298 
01299                 return MC_matrix::translation(MC_v3d(x,y,z));
01300             }
01301         }
01302         if(v_input[counter]=="scaling")
01303         {
01304             if(counter+3<N)
01305             {
01306                 bool is_ok_1=false,is_ok_2=false,is_ok_3=false;
01307                 double x=MC_string_converter::value_of<double>(v_input[counter+1],&is_ok_1);
01308                 double y=MC_string_converter::value_of<double>(v_input[counter+2],&is_ok_2);
01309                 double z=MC_string_converter::value_of<double>(v_input[counter+3],&is_ok_3);
01310 
01311                 if(is_ok_1==true && is_ok_2==true && is_ok_3==true)
01312                     return MC_matrix::scaling(x,y,z);
01313                 else if(is_ok_1==true && (is_ok_2==false || is_ok_3==false) )
01314                 {
01315                     return MC_matrix::scaling(x);
01316                 }
01317 
01318             }
01319             else if (counter+1<N)
01320             {
01321                 double s=MC_string_converter::value_of<double>(v_input[counter+1]);
01322 
01323                 return MC_matrix::scaling(s);
01324             }
01325         }
01326 
01327         ++counter;
01328     }
01329     return MC_matrix::identity(4);
01330 }

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MC_matrix mesh_conv::MC_matrix::translation ( const MC_v3d &  tr  )  [static]

create translation matrix

Definition at line 1332 of file MC_matrix.cpp.

References identity(), M, and set_translation().

Referenced by transformation().

01333 {
01334     MC_matrix M=MC_matrix::identity(4);
01335     M.set_translation(tr);
01336     return M;
01337 }

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MC_v3d mesh_conv::MC_matrix::translation_part (  )  const

get the translation part of a matrix 4x4

Returns:
get_block("0:2","3") if the matrix is 4x4

Definition at line 1171 of file MC_matrix.cpp.

References size(), size_1(), and size_2().

Referenced by mesh_conv::MC_navigator_tool::ray_world_space_cam1().

01172 {
01173     if(size_1()!=4 || size_2()!=4)
01174     {std::cout<<"Error in MC_matrix::translation_part(), size of the matrix is not 4x4 but "<<size()<<std::endl;exit(-1);}
01175 
01176     return MC_v3d((*this)(0,3),(*this)(1,3),(*this)(2,3));
01177 }

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MC_matrix mesh_conv::MC_matrix::transposed (  )  const

transpose the matrix

Definition at line 398 of file MC_matrix.cpp.

References size_1(), and size_2().

Referenced by mesh_conv::MC_triangle::inertia(), lsqr_invert(), and polar_decomposition().

00399 {
00400   MC_matrix new_matrix(size_2(),size_1());
00401   int k1=0,N1=size_1();
00402   int k2=0,N2=size_2();
00403   for(k1=0;k1<N1;k1++)
00404     for(k2=0;k2<N2;k2++)
00405       new_matrix(k2,k1)=(*this)(k1,k2);
00406   return new_matrix;
00407 }

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MC_matrix mesh_conv::MC_matrix::zeros ( const int &  size  )  [static]

build a square zeros matrix

Definition at line 412 of file MC_matrix.cpp.

References MC_matrix().

00413 {return MC_matrix(new_size);}

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MC_matrix mesh_conv::MC_matrix::zeros ( const int &  size_1,
const int &  size_2 
) [static]

build a zeros matrix

Definition at line 410 of file MC_matrix.cpp.

References MC_matrix().

Referenced by kronecker(), and resize().

00411 {return MC_matrix(new_size_1,new_size_2);}

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Friends And Related Function Documentation

MC_double_vector operator* ( const MC_matrix &  M1,
const MC_double_vector &  v 
) [friend]

apply a matrix to a MC_double_vector if size_2()==double_vec.size()

MC_matrix operator* ( const MC_matrix &  M1,
const MC_v3d &  V 
) [friend]

apply a matrix to a MC_v3d vector (size_2() must be 3)

MC_matrix operator* ( const MC_matrix &  M1,
const MC_matrix &  M2 
) [friend]

multiply two matrices (size must be compatible)

MC_matrix operator* ( const double &  alpha,
const MC_matrix &  M1 
) [friend]

multiply a double to every value

MC_matrix operator* ( const MC_matrix &  M1,
const double &  alpha 
) [friend]

multiply a double to every value

MC_matrix operator+ ( const MC_matrix &  M1,
const MC_matrix &  M2 
) [friend]

add a matrix to an other (size must be compatible)

MC_matrix operator+ ( const double &  alpha,
const MC_matrix &  M1 
) [friend]

add a double to every value

MC_matrix operator+ ( const MC_matrix &  M1,
const double &  alpha 
) [friend]

add a double to every value

MC_matrix operator- ( const MC_matrix &  M1,
const MC_matrix &  M2 
) [friend]

substract a matrix to an other (size must be compatible)

MC_matrix operator- ( const double &  alpha,
const MC_matrix &  M1 
) [friend]

substract a double to every value

MC_matrix operator- ( const MC_matrix &  M1,
const double &  alpha 
) [friend]

substract a double to every value

MC_matrix operator/ ( const double &  alpha,
const MC_matrix &  M1 
) [friend]

divide a double to every value

MC_matrix operator/ ( const MC_matrix &  M1,
const double &  alpha 
) [friend]

divide a double to every value

std::ostream& operator<< ( std::ostream &  stream,
const MC_matrix &  _M 
) [friend]

output stream

Member Data Documentation

int mesh_conv::MC_matrix::current_size[2] [protected]

the stored size (size_y x size_x)=(nbr_line x nbr_row) At every moment size(M)=N[0]*N[1] should be respected

Definition at line 487 of file MC_matrix.hpp.

Referenced by check_integrity(), clear(), MC_matrix(), norm_2(), operator()(), reshaped(), resize(), size(), size_1(), size_2(), and size_vec().

MC_double_vector mesh_conv::MC_matrix::M [protected]

the internal storage format is a vector of double

Definition at line 483 of file MC_matrix.hpp.

Referenced by add_translation(), check_integrity(), clear(), internal_product(), MC_matrix(), operator()(), operator*=(), mesh_conv::operator+(), operator+=(), mesh_conv::operator-(), operator/=(), pointer(), reshaped(), reshaped_1(), reshaped_2(), resize(), scaling(), set_rotation(), set_translation(), to_double(), to_vec(), and translation().

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