simbody-3.6-doxygen/api/SmallMatrixMixed_8h_source.html

 #ifndef SimTK_SIMMATRIX_SMALLMATRIX_MIXED_H_
 #define SimTK_SIMMATRIX_SMALLMATRIX_MIXED_H_

 /* -------------------------------------------------------------------------- *
  *                       Simbody(tm): SimTKcommon                             *
  * -------------------------------------------------------------------------- *
  * This is part of the SimTK biosimulation toolkit originating from           *
  * Simbios, the NIH National Center for Physics-Based Simulation of           *
  * Biological Structures at Stanford, funded under the NIH Roadmap for        *
  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
  *                                                                            *
  * Portions copyright (c) 2005-12 Stanford University and the Authors.        *
  * Authors: Michael Sherman                                                   *
  * Contributors:                                                              *
  *                                                                            *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
  * not use this file except in compliance with the License. You may obtain a  *
  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
  *                                                                            *
  * Unless required by applicable law or agreed to in writing, software        *
  * distributed under the License is distributed on an "AS IS" BASIS,          *
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
  * See the License for the specific language governing permissions and        *
  * limitations under the License.                                             *
  * -------------------------------------------------------------------------- */

 namespace SimTK {

     // COMPARISON

 // m==s
 template <int M, class EL, int CSL, int RSL, class ER, int RSR> inline
 bool operator==(const Mat<M,M,EL,CSL,RSL>& l, const SymMat<M,ER,RSR>& r) {
     for (int i=0; i<M; ++i) {
         if (l(i,i) != r.getDiag()[i]) return false;
         for (int j=0; j<i; ++j)
             if (l(i,j) != r.getEltLower(i,j)) return false;
         for (int j=i+1; j<M; ++j)
             if (l(i,j) != r.getEltUpper(i,j)) return false;
     }

     return true;
 }
 // m!=s
 template <int M, class EL, int CSL, int RSL, class ER, int RSR> inline
 bool operator!=(const Mat<M,M,EL,CSL,RSL>& l, const SymMat<M,ER,RSR>& r) {
     return !(l==r);
 }

 // s==m
 template <int M, class EL, int RSL, class ER, int CSR, int RSR> inline
 bool operator==(const SymMat<M,EL,RSL>& l, const Mat<M,M,ER,CSR,RSR>& r) {
     return r==l;
 }
 // s!=m
 template <int M, class EL, int RSL, class ER, int CSR, int RSR> inline
 bool operator!=(const SymMat<M,EL,RSL>& l, const Mat<M,M,ER,CSR,RSR>& r) {
     return !(r==l);
 }

     // DOT PRODUCT

 // Dot product and corresponding infix operator*(). Note that
 // the '*' operator is just a matrix multiply so is strictly
 // row*column to produce a scalar (1x1) result.
 //
 // In keeping with Matlab precedent, however, the explicit dot()
 // function is defined on two column vectors
 // v and w such that dot(v,w)= ~v * w. That means we use the
 // Hermitian transpose of the elements of v, and the elements of
 // w unchanged. If v and/or w are rows, we first convert them
 // to vectors via *positional* transpose. So no matter what shape
 // these have on the way in it is always the Hermitian transpose
 // (or complex conjugate for scalars) of the first item times
 // the unchanged elements of the second item.


 template <int M, class E1, int S1, class E2, int S2> inline
 typename CNT<typename CNT<E1>::THerm>::template Result<E2>::Mul
 dot(const Vec<M,E1,S1>& r, const Vec<M,E2,S2>& v) {
     typename CNT<typename CNT<E1>::THerm>::template Result<E2>::Mul sum(dot(reinterpret_cast<const Vec<M-1,E1,S1>&>(r), reinterpret_cast<const Vec<M-1,E2,S2>&>(v)) + CNT<E1>::transpose(r[M-1])*v[M-1]);
     return sum;
 }
 template <class E1, int S1, class E2, int S2> inline
 typename CNT<typename CNT<E1>::THerm>::template Result<E2>::Mul
 dot(const Vec<1,E1,S1>& r, const Vec<1,E2,S2>& v) {
     typename CNT<typename CNT<E1>::THerm>::template Result<E2>::Mul sum(CNT<E1>::transpose(r[0])*v[0]);
     return sum;
 }

 // dot product (row * conforming vec)
 template <int N, class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 operator*(const Row<N,E1,S1>& r, const Vec<N,E2,S2>& v) {
     typename CNT<E1>::template Result<E2>::Mul sum(reinterpret_cast<const Row<N-1,E1,S1>&>(r)*reinterpret_cast<const Vec<N-1,E2,S2>&>(v) + r[N-1]*v[N-1]);
     return sum;
 }
 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 operator*(const Row<1,E1,S1>& r, const Vec<1,E2,S2>& v) {
     typename CNT<E1>::template Result<E2>::Mul sum(r[0]*v[0]);
     return sum;
 }

 // Alternate acceptable forms for dot().
 template <int N, class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 dot(const Row<N,E1,S1>& r, const Vec<N,E2,S2>& v) {
     return dot(r.positionalTranspose(),v);
 }
 template <int M, class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 dot(const Vec<M,E1,S1>& v, const Row<M,E2,S2>& r) {
     return dot(v,r.positionalTranspose());
 }
 template <int N, class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 dot(const Row<N,E1,S1>& r, const Row<N,E2,S2>& s) {
     return dot(r.positionalTranspose(),s.positionalTranspose());
 }

     // OUTER PRODUCT

 // Outer product and corresponding infix operator*(). Note that
 // the '*' operator is just a matrix multiply so is strictly
 // column_mX1 * row_1Xm to produce an mXm matrix result.
 //
 // Although Matlab doesn't provide outer(), to be consistent
 // we'll treat it as discussed for dot() above. That is, outer
 // is defined on two column vectors
 // v and w such that outer(v,w)= v * ~w. That means we use the
 // elements of v unchanged but use the Hermitian transpose of
 // the elements of w. If v and/or w are rows, we first convert them
 // to vectors via *positional* transpose. So no matter what shape
 // these have on the way in it is always the unchanged elements of
 // the first item times the Hermitian transpose (or complex
 // conjugate for scalars) of the elements of the second item.

 template <int M, class E1, int S1, class E2, int S2> inline
 Mat<M,M, typename CNT<E1>::template Result<typename CNT<E2>::THerm>::Mul>
 outer(const Vec<M,E1,S1>& v, const Vec<M,E2,S2>& w) {
     Mat<M,M, typename CNT<E1>::template Result<typename CNT<E2>::THerm>::Mul> m;
     for (int i=0; i<M; ++i)
         m[i] = v[i] * ~w;
     return m;
 }

 // This is the general conforming case of Vec*Row (outer product)
 template <int M, class E1, int S1, class E2, int S2> inline
 typename Vec<M,E1,S1>::template Result<Row<M,E2,S2> >::Mul
 operator*(const Vec<M,E1,S1>& v, const Row<M,E2,S2>& r) {
     return Vec<M,E1,S1>::template Result<Row<M,E2,S2> >::MulOp::perform(v,r);
 }


 // Alternate acceptable forms for outer().
 template <int M, class E1, int S1, class E2, int S2> inline
 Mat<M,M, typename CNT<E1>::template Result<E2>::Mul>
 outer(const Vec<M,E1,S1>& v, const Row<M,E2,S2>& r) {
     return outer(v,r.positionalTranspose());
 }
 template <int M, class E1, int S1, class E2, int S2> inline
 Mat<M,M, typename CNT<E1>::template Result<E2>::Mul>
 outer(const Row<M,E1,S1>& r, const Vec<M,E2,S2>& v) {
     return outer(r.positionalTranspose(),v);
 }
 template <int M, class E1, int S1, class E2, int S2> inline
 Mat<M,M, typename CNT<E1>::template Result<E2>::Mul>
 outer(const Row<M,E1,S1>& r, const Row<M,E2,S2>& s) {
     return outer(r.positionalTranspose(),s.positionalTranspose());
 }

     // MAT*VEC, ROW*MAT (conforming)

 // vec = mat * vec (conforming)
 template <int M, int N, class ME, int CS, int RS, class E, int S> inline
 typename Mat<M,N,ME,CS,RS>::template Result<Vec<N,E,S> >::Mul
 operator*(const Mat<M,N,ME,CS,RS>& m,const Vec<N,E,S>& v) {
     typename Mat<M,N,ME,CS,RS>::template Result<Vec<N,E,S> >::Mul result;
     for (int i=0; i<M; ++i)
         result[i] = m[i]*v;
     return result;
 }

 // row = row * mat (conforming)
 template <int M, class E, int S, int N, class ME, int CS, int RS> inline
 typename Row<M,E,S>::template Result<Mat<M,N,ME,CS,RS> >::Mul
 operator*(const Row<M,E,S>& r, const Mat<M,N,ME,CS,RS>& m) {
     typename Row<M,E,S>::template Result<Mat<M,N,ME,CS,RS> >::Mul result;
     for (int i=0; i<N; ++i)
         result[i] = r*m(i);
     return result;
 }

     // SYMMAT*VEC, ROW*SYMMAT (conforming)

 // vec = sym * vec (conforming)
 template <int N, class ME, int RS, class E, int S> inline
 typename SymMat<N,ME,RS>::template Result<Vec<N,E,S> >::Mul
 operator*(const SymMat<N,ME,RS>& m,const Vec<N,E,S>& v) {
     typename SymMat<N,ME,RS>::template Result<Vec<N,E,S> >::Mul result;
     for (int i=0; i<N; ++i) {
         result[i] = m.getDiag()[i]*v[i];
         for (int j=0; j<i; ++j)
             result[i] += m.getEltLower(i,j)*v[j];
         for (int j=i+1; j<N; ++j)
             result[i] += m.getEltUpper(i,j)*v[j];
     }
     return result;
 }

 // Unroll loops for small cases.

 // 1 flop.
 template <class ME, int RS, class E, int S> inline
 typename SymMat<1,ME,RS>::template Result<Vec<1,E,S> >::Mul
 operator*(const SymMat<1,ME,RS>& m,const Vec<1,E,S>& v) {
     typename SymMat<1,ME,RS>::template Result<Vec<1,E,S> >::Mul result;
     result[0] = m.getDiag()[0]*v[0];
     return result;
 }

 // 6 flops.
 template <class ME, int RS, class E, int S> inline
 typename SymMat<2,ME,RS>::template Result<Vec<2,E,S> >::Mul
 operator*(const SymMat<2,ME,RS>& m,const Vec<2,E,S>& v) {
     typename SymMat<2,ME,RS>::template Result<Vec<2,E,S> >::Mul result;
     result[0] = m.getDiag()[0]    *v[0] + m.getEltUpper(0,1)*v[1];
     result[1] = m.getEltLower(1,0)*v[0] + m.getDiag()[1]    *v[1];
     return result;
 }

 // 15 flops.
 template <class ME, int RS, class E, int S> inline
 typename SymMat<3,ME,RS>::template Result<Vec<3,E,S> >::Mul
 operator*(const SymMat<3,ME,RS>& m,const Vec<3,E,S>& v) {
     typename SymMat<3,ME,RS>::template Result<Vec<3,E,S> >::Mul result;
     result[0] = m.getDiag()[0]    *v[0] + m.getEltUpper(0,1)*v[1] + m.getEltUpper(0,2)*v[2];
     result[1] = m.getEltLower(1,0)*v[0] + m.getDiag()[1]    *v[1] + m.getEltUpper(1,2)*v[2];
     result[2] = m.getEltLower(2,0)*v[0] + m.getEltLower(2,1)*v[1] + m.getDiag()[2]    *v[2];
     return result;
 }

 // row = row * sym (conforming)
 template <int M, class E, int S, class ME, int RS> inline
 typename Row<M,E,S>::template Result<SymMat<M,ME,RS> >::Mul
 operator*(const Row<M,E,S>& r, const SymMat<M,ME,RS>& m) {
     typename Row<M,E,S>::template Result<SymMat<M,ME,RS> >::Mul result;
     for (int j=0; j<M; ++j) {
         result[j] = r[j]*m.getDiag()[j];
         for (int i=0; i<j; ++i)
             result[j] += r[i]*m.getEltUpper(i,j);
         for (int i=j+1; i<M; ++i)
             result[j] += r[i]*m.getEltLower(i,j);
     }
     return result;
 }

 // Unroll loops for small cases.

 // 1 flop.
 template <class E, int S, class ME, int RS> inline
 typename Row<1,E,S>::template Result<SymMat<1,ME,RS> >::Mul
 operator*(const Row<1,E,S>& r, const SymMat<1,ME,RS>& m) {
     typename Row<1,E,S>::template Result<SymMat<1,ME,RS> >::Mul result;
     result[0] = r[0]*m.getDiag()[0];
     return result;
 }

 // 6 flops.
 template <class E, int S, class ME, int RS> inline
 typename Row<2,E,S>::template Result<SymMat<2,ME,RS> >::Mul
 operator*(const Row<2,E,S>& r, const SymMat<2,ME,RS>& m) {
     typename Row<2,E,S>::template Result<SymMat<2,ME,RS> >::Mul result;
     result[0] = r[0]*m.getDiag()[0]     + r[1]*m.getEltLower(1,0);
     result[1] = r[0]*m.getEltUpper(0,1) + r[1]*m.getDiag()[1];
     return result;
 }

 // 15 flops.
 template <class E, int S, class ME, int RS> inline
 typename Row<3,E,S>::template Result<SymMat<3,ME,RS> >::Mul
 operator*(const Row<3,E,S>& r, const SymMat<3,ME,RS>& m) {
     typename Row<3,E,S>::template Result<SymMat<3,ME,RS> >::Mul result;
     result[0] = r[0]*m.getDiag()[0]     + r[1]*m.getEltLower(1,0) + r[2]*m.getEltLower(2,0);
     result[1] = r[0]*m.getEltUpper(0,1) + r[1]*m.getDiag()[1]     + r[2]*m.getEltLower(2,1);
     result[2] = r[0]*m.getEltUpper(0,2) + r[1]*m.getEltUpper(1,2) + r[2]*m.getDiag()[2];
     return result;
 }

     // NONCONFORMING MULTIPLY

     // Nonconforming: Vec on left: v*r v*m v*sym v*v
     // Result has the shape of the "most composite" (deepest) argument.

 // elementwise multiply (vec * nonconforming row)
 template <int M, class E1, int S1, int N, class E2, int S2> inline
 typename Vec<M,E1,S1>::template Result<Row<N,E2,S2> >::MulNon
 operator*(const Vec<M,E1,S1>& v, const Row<N,E2,S2>& r) {
     return Vec<M,E1,S1>::template Result<Row<N,E2,S2> >::MulOpNonConforming::perform(v,r);
 }
 // elementwise multiply (vec * nonconforming mat)
 template <int M, class E1, int S1, int MM, int NN, class E2, int CS2, int RS2> inline
 typename Vec<M,E1,S1>::template Result<Mat<MM,NN,E2,CS2,RS2> >::MulNon
 operator*(const Vec<M,E1,S1>& v, const Mat<MM,NN,E2,CS2,RS2>& m) {
     return Vec<M,E1,S1>::template Result<Mat<MM,NN,E2,CS2,RS2> >
                 ::MulOpNonConforming::perform(v,m);
 }
 // elementwise multiply (vec * nonconforming symmat)
 template <int M, class E1, int S1, int MM, class E2, int RS2> inline
 typename Vec<M,E1,S1>::template Result<SymMat<MM,E2,RS2> >::MulNon
 operator*(const Vec<M,E1,S1>& v, const SymMat<MM,E2,RS2>& m) {
     return Vec<M,E1,S1>::template Result<SymMat<MM,E2,RS2> >
                 ::MulOpNonConforming::perform(v,m);
 }
 // elementwise multiply (vec * nonconforming vec)
 template <int M, class E1, int S1, int MM, class E2, int S2> inline
 typename Vec<M,E1,S1>::template Result<Vec<MM,E2,S2> >::MulNon
 operator*(const Vec<M,E1,S1>& v1, const Vec<MM,E2,S2>& v2) {
     return Vec<M,E1,S1>::template Result<Vec<MM,E2,S2> >
                 ::MulOpNonConforming::perform(v1,v2);
 }

     // Nonconforming: Row on left -- r*v r*r r*m r*sym


 // (row or mat) = row * mat (nonconforming)
 template <int M, class E, int S, int MM, int NN, class ME, int CS, int RS> inline
 typename Row<M,E,S>::template Result<Mat<MM,NN,ME,CS,RS> >::MulNon
 operator*(const Row<M,E,S>& r, const Mat<MM,NN,ME,CS,RS>& m) {
     return Row<M,E,S>::template Result<Mat<MM,NN,ME,CS,RS> >
         ::MulOpNonConforming::perform(r,m);
 }
 // (row or vec) = row * vec (nonconforming)
 template <int N, class E1, int S1, int M, class E2, int S2> inline
 typename Row<N,E1,S1>::template Result<Vec<M,E2,S2> >::MulNon
 operator*(const Row<N,E1,S1>& r, const Vec<M,E2,S2>& v) {
     return Row<N,E1,S1>::template Result<Vec<M,E2,S2> >
         ::MulOpNonConforming::perform(r,v);
 }
 // (row1 or row2) = row1 * row2(nonconforming)
 template <int N1, class E1, int S1, int N2, class E2, int S2> inline
 typename Row<N1,E1,S1>::template Result<Row<N2,E2,S2> >::MulNon
 operator*(const Row<N1,E1,S1>& r1, const Row<N2,E2,S2>& r2) {
     return Row<N1,E1,S1>::template Result<Row<N2,E2,S2> >
         ::MulOpNonConforming::perform(r1,r2);
 }

     // Nonconforming: Mat on left -- m*v m*r m*sym

 // (mat or vec) = mat * vec (nonconforming)
 template <int M, int N, class ME, int CS, int RS, int MM, class E, int S> inline
 typename Mat<M,N,ME,CS,RS>::template Result<Vec<MM,E,S> >::MulNon
 operator*(const Mat<M,N,ME,CS,RS>& m,const Vec<MM,E,S>& v) {
     return Mat<M,N,ME,CS,RS>::template Result<Vec<MM,E,S> >
         ::MulOpNonConforming::perform(m,v);
 }
 // (mat or row) = mat * row (nonconforming)
 template <int M, int N, class ME, int CS, int RS, int NN, class E, int S> inline
 typename Mat<M,N,ME,CS,RS>::template Result<Row<NN,E,S> >::MulNon
 operator*(const Mat<M,N,ME,CS,RS>& m,const Row<NN,E,S>& r) {
     return Mat<M,N,ME,CS,RS>::template Result<Row<NN,E,S> >
         ::MulOpNonConforming::perform(m,r);
 }

 // (mat or sym) = mat * sym (nonconforming)
 template <int M, int N, class ME, int CS, int RS, int Dim, class E, int S> inline
 typename Mat<M,N,ME,CS,RS>::template Result<SymMat<Dim,E,S> >::MulNon
 operator*(const Mat<M,N,ME,CS,RS>& m,const SymMat<Dim,E,S>& sy) {
     return Mat<M,N,ME,CS,RS>::template Result<SymMat<Dim,E,S> >
         ::MulOpNonConforming::perform(m,sy);
 }

     // CROSS PRODUCT

 // Cross product and corresponding operator%, but only for 2- and 3-Vecs
 // and Rows. It is OK to mix same-length Vecs & Rows; cross product is
 // defined elementwise and never transposes the individual elements.
 //
 // We also define crossMat(v) below which produces a 2x2 or 3x3
 // matrix M such that M*w = v % w for w the same length vector (or row) as v.
 // TODO: the 3d crossMat is skew symmetric but currently there is no
 // SkewMat class defined so we have to return a full 3x3.

 // For 3d cross product, we'll follow Matlab and make the return type a
 // Row if either or both arguments are Rows, although I'm not sure that's
 // a good idea! Note that the definition of crossMat means crossMat(r)*v
 // will yield a column, while r%v is a Row.

 // We define v % m where v is a 3-vector and m is a 3xN matrix.
 // This returns a matrix c of the same dimensions as m where
 // column c(i) = v % m(i), that is, each column of c is the cross
 // product of v and the corresponding column of m. This definition means that
 //      v % m == crossMat(v)*m
 // which seems like a good idea. (But note that v%m takes 9*N flops while
 // crossMat(v)*m takes 15*N flops.) If we have a row vector r instead,
 // we define r % m == v % m so again r%m==crossMat(r)*m. We also
 // define the cross product operator with an Mx3 matrix on the left,
 // defined so that c[i] = m[i]%v, that is, the rows of c are the
 // cross products of the corresonding rows of m and vector v. Again,
 // we allow v to be a row without any change to the results or return type.
 // This definition means m % v = m * crossMat(v), but again it is faster.

 // v = v % v
 template <class E1, int S1, class E2, int S2> inline
 Vec<3,typename CNT<E1>::template Result<E2>::Mul>
 cross(const Vec<3,E1,S1>& a, const Vec<3,E2,S2>& b) {
     return Vec<3,typename CNT<E1>::template Result<E2>::Mul>
         (a[1]*b[2]-a[2]*b[1], a[2]*b[0]-a[0]*b[2], a[0]*b[1]-a[1]*b[0]);
 }
 template <class E1, int S1, class E2, int S2> inline
 Vec<3,typename CNT<E1>::template Result<E2>::Mul>
 operator%(const Vec<3,E1,S1>& a, const Vec<3,E2,S2>& b) {return cross(a,b);}

 // r = v % r
 template <class E1, int S1, class E2, int S2> inline
 Row<3,typename CNT<E1>::template Result<E2>::Mul>
 cross(const Vec<3,E1,S1>& a, const Row<3,E2,S2>& b) {
     return Row<3,typename CNT<E1>::template Result<E2>::Mul>
         (a[1]*b[2]-a[2]*b[1], a[2]*b[0]-a[0]*b[2], a[0]*b[1]-a[1]*b[0]);
 }
 template <class E1, int S1, class E2, int S2> inline
 Row<3,typename CNT<E1>::template Result<E2>::Mul>
 operator%(const Vec<3,E1,S1>& a, const Row<3,E2,S2>& b) {return cross(a,b);}

 // r = r % v
 template <class E1, int S1, class E2, int S2> inline
 Row<3,typename CNT<E1>::template Result<E2>::Mul>
 cross(const Row<3,E1,S1>& a, const Vec<3,E2,S2>& b) {
     return Row<3,typename CNT<E1>::template Result<E2>::Mul>
         (a[1]*b[2]-a[2]*b[1], a[2]*b[0]-a[0]*b[2], a[0]*b[1]-a[1]*b[0]);
 }
 template <class E1, int S1, class E2, int S2> inline
 Row<3,typename CNT<E1>::template Result<E2>::Mul>
 operator%(const Row<3,E1,S1>& a, const Vec<3,E2,S2>& b) {return cross(a,b);}

 // r = r % r
 template <class E1, int S1, class E2, int S2> inline
 Row<3,typename CNT<E1>::template Result<E2>::Mul>
 cross(const Row<3,E1,S1>& a, const Row<3,E2,S2>& b) {
     return Row<3,typename CNT<E1>::template Result<E2>::Mul>
         (a[1]*b[2]-a[2]*b[1], a[2]*b[0]-a[0]*b[2], a[0]*b[1]-a[1]*b[0]);
 }
 template <class E1, int S1, class E2, int S2> inline
 Row<3,typename CNT<E1>::template Result<E2>::Mul>
 operator%(const Row<3,E1,S1>& a, const Row<3,E2,S2>& b) {return cross(a,b);}


     // Cross a vector with a matrix. The meaning is given by substituting
     // the vector's cross product matrix and performing a matrix multiply.
     // We implement v % m(3,N) for a full matrix m, and v % s(3,3) for
     // a 3x3 symmetric matrix (producing a 3x3 full result). Variants are
     // provided with the vector on the right and for when the vector is
     // supplied as a row (which doesn't change the result). See above
     // for more details.

 // m = v % m
 // Cost is 9*N flops.
 template <class E1, int S1, int N, class E2, int CS, int RS> inline
 Mat<3,N,typename CNT<E1>::template Result<E2>::Mul> // packed
 cross(const Vec<3,E1,S1>& v, const Mat<3,N,E2,CS,RS>& m) {
     Mat<3,N,typename CNT<E1>::template Result<E2>::Mul> result;
     for (int j=0; j < N; ++j)
         result(j) = v % m(j);
     return result;
 }
 template <class E1, int S1, int N, class E2, int CS, int RS> inline
 Mat<3,N,typename CNT<E1>::template Result<E2>::Mul>
 operator%(const Vec<3,E1,S1>& v, const Mat<3,N,E2,CS,RS>& m) {return cross(v,m);}

 // Same as above except we have a Row of N Vec<3>s instead of the matrix.
 // Cost is 9*N flops.
 template <class E1, int S1, int N, class E2, int S2, int S3> inline
 Row< N,Vec<3,typename CNT<E1>::template Result<E2>::Mul> > // packed
 cross(const Vec<3,E1,S1>& v, const Row<N,Vec<3,E2,S2>,S3>& m) {
     Row< N,Vec<3,typename CNT<E1>::template Result<E2>::Mul> > result;
     for (int j=0; j < N; ++j)
         result(j) = v % m(j);
     return result;
 }
 // Specialize for N==3 to avoid ambiguity
 template <class E1, int S1, class E2, int S2, int S3> inline
 Row< 3,Vec<3,typename CNT<E1>::template Result<E2>::Mul> > // packed
 cross(const Vec<3,E1,S1>& v, const Row<3,Vec<3,E2,S2>,S3>& m) {
     Row< 3,Vec<3,typename CNT<E1>::template Result<E2>::Mul> > result;
     for (int j=0; j < 3; ++j)
         result(j) = v % m(j);
     return result;
 }
 template <class E1, int S1, int N, class E2, int S2, int S3> inline
 Row< N,Vec<3,typename CNT<E1>::template Result<E2>::Mul> > // packed
 operator%(const Vec<3,E1,S1>& v, const Row<N,Vec<3,E2,S2>,S3>& m)
 {   return cross(v,m); }
 template <class E1, int S1, class E2, int S2, int S3> inline
 Row< 3,Vec<3,typename CNT<E1>::template Result<E2>::Mul> > // packed
 operator%(const Vec<3,E1,S1>& v, const Row<3,Vec<3,E2,S2>,S3>& m)
 {   return cross(v,m); }

 // m = v % s
 // By writing this out elementwise for the symmetric case we can do this
 // in 24 flops, a small savings over doing three cross products of 9 flops each.
 template<class EV, int SV, class EM, int RS> inline
 Mat<3,3,typename CNT<EV>::template Result<EM>::Mul> // packed
 cross(const Vec<3,EV,SV>& v, const SymMat<3,EM,RS>& s) {
     const EV& x=v[0]; const EV& y=v[1]; const EV& z=v[2];
     const EM& a=s(0,0);
     const EM& b=s(1,0); const EM& d=s(1,1);
     const EM& c=s(2,0); const EM& e=s(2,1); const EM& f=s(2,2);

     typedef typename CNT<EV>::template Result<EM>::Mul EResult;
     const EResult xe=x*e, yc=y*c, zb=z*b;
     return Mat<3,3,EResult>
       (  yc-zb,  y*e-z*d, y*f-z*e,
         z*a-x*c,  zb-xe,  z*c-x*f,
         x*b-y*a, x*d-y*b,  xe-yc );
 }
 template <class EV, int SV, class EM, int RS> inline
 Mat<3,3,typename CNT<EV>::template Result<EM>::Mul>
 operator%(const Vec<3,EV,SV>& v, const SymMat<3,EM,RS>& s) {return cross(v,s);}

 // m = r % m
 template <class E1, int S1, int N, class E2, int CS, int RS> inline
 Mat<3,N,typename CNT<E1>::template Result<E2>::Mul> // packed
 cross(const Row<3,E1,S1>& r, const Mat<3,N,E2,CS,RS>& m) {
     return cross(r.positionalTranspose(), m);
 }
 template <class E1, int S1, int N, class E2, int CS, int RS> inline
 Mat<3,N,typename CNT<E1>::template Result<E2>::Mul>
 operator%(const Row<3,E1,S1>& r, const Mat<3,N,E2,CS,RS>& m) {return cross(r,m);}

 // m = r % s
 template<class EV, int SV, class EM, int RS> inline
 Mat<3,3,typename CNT<EV>::template Result<EM>::Mul> // packed
 cross(const Row<3,EV,SV>& r, const SymMat<3,EM,RS>& s) {
     return cross(r.positionalTranspose(), s);
 }
 template<class EV, int SV, class EM, int RS> inline
 Mat<3,3,typename CNT<EV>::template Result<EM>::Mul> // packed
 operator%(const Row<3,EV,SV>& r, const SymMat<3,EM,RS>& s) {return cross(r,s);}

 // m = m % v
 template <int M, class EM, int CS, int RS, class EV, int S> inline
 Mat<M,3,typename CNT<EM>::template Result<EV>::Mul> // packed
 cross(const Mat<M,3,EM,CS,RS>& m, const Vec<3,EV,S>& v) {
     Mat<M,3,typename CNT<EM>::template Result<EV>::Mul> result;
     for (int i=0; i < M; ++i)
         result[i] = m[i] % v;
     return result;
 }
 template <int M, class EM, int CS, int RS, class EV, int S> inline
 Mat<M,3,typename CNT<EM>::template Result<EV>::Mul> // packed
 operator%(const Mat<M,3,EM,CS,RS>& m, const Vec<3,EV,S>& v) {return cross(m,v);}

 // m = s % v
 // By writing this out elementwise for the symmetric case we can do this
 // in 24 flops, a small savings over doing three cross products of 9 flops each.
 template<class EM, int RS, class EV, int SV> inline
 Mat<3,3,typename CNT<EM>::template Result<EV>::Mul> // packed
 cross(const SymMat<3,EM,RS>& s, const Vec<3,EV,SV>& v) {
     const EV& x=v[0]; const EV& y=v[1]; const EV& z=v[2];
     const EM& a=s(0,0);
     const EM& b=s(1,0); const EM& d=s(1,1);
     const EM& c=s(2,0); const EM& e=s(2,1); const EM& f=s(2,2);

     typedef typename CNT<EV>::template Result<EM>::Mul EResult;
     const EResult xe=x*e, yc=y*c, zb=z*b;
     return Mat<3,3,EResult>
       (  zb-yc,  x*c-z*a, y*a-x*b,
         z*d-y*e,  xe-zb,  y*b-x*d,
         z*e-y*f, x*f-z*c,  yc-xe );
 }
 template<class EM, int RS, class EV, int SV> inline
 Mat<3,3,typename CNT<EM>::template Result<EV>::Mul> // packed
 operator%(const SymMat<3,EM,RS>& s, const Vec<3,EV,SV>& v) {return cross(s,v);}

 // m = m % r
 template <int M, class EM, int CS, int RS, class ER, int S> inline
 Mat<M,3,typename CNT<EM>::template Result<ER>::Mul> // packed
 cross(const Mat<M,3,EM,CS,RS>& m, const Row<3,ER,S>& r) {
     return cross(m,r.positionalTranspose());
 }
 template <int M, class EM, int CS, int RS, class ER, int S> inline
 Mat<M,3,typename CNT<EM>::template Result<ER>::Mul> // packed
 operator%(const Mat<M,3,EM,CS,RS>& m, const Row<3,ER,S>& r) {return cross(m,r);}

 // m = s % r
 template<class EM, int RS, class EV, int SV> inline
 Mat<3,3,typename CNT<EM>::template Result<EV>::Mul> // packed
 cross(const SymMat<3,EM,RS>& s, const Row<3,EV,SV>& r) {
     return cross(s,r.positionalTranspose());
 }
 template<class EM, int RS, class EV, int SV> inline
 Mat<3,3,typename CNT<EM>::template Result<EV>::Mul> // packed
 operator%(const SymMat<3,EM,RS>& s, const Row<3,EV,SV>& r) {return cross(s,r);}

 // 2d cross product just returns a scalar. This is the z-value you
 // would get if the arguments were treated as 3-vectors with 0
 // z components.

 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 cross(const Vec<2,E1,S1>& a, const Vec<2,E2,S2>& b) {
     return a[0]*b[1]-a[1]*b[0];
 }
 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 operator%(const Vec<2,E1,S1>& a, const Vec<2,E2,S2>& b) {return cross(a,b);}

 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 cross(const Row<2,E1,S1>& a, const Vec<2,E2,S2>& b) {
     return a[0]*b[1]-a[1]*b[0];
 }
 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 operator%(const Row<2,E1,S1>& a, const Vec<2,E2,S2>& b) {return cross(a,b);}

 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 cross(const Vec<2,E1,S1>& a, const Row<2,E2,S2>& b) {
     return a[0]*b[1]-a[1]*b[0];
 }
 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 operator%(const Vec<2,E1,S1>& a, const Row<2,E2,S2>& b) {return cross(a,b);}

 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 cross(const Row<2,E1,S1>& a, const Row<2,E2,S2>& b) {
     return a[0]*b[1]-a[1]*b[0];
 }
 template <class E1, int S1, class E2, int S2> inline
 typename CNT<E1>::template Result<E2>::Mul
 operator%(const Row<2,E1,S1>& a, const Row<2,E2,S2>& b) {return cross(a,b);}

     // CROSS MAT

 template <class E, int S> inline
 Mat<3,3,E>
 crossMat(const Vec<3,E,S>& v) {
     return Mat<3,3,E>(Row<3,E>( E(0), -v[2],  v[1]),
                       Row<3,E>( v[2],  E(0), -v[0]),
                       Row<3,E>(-v[1],  v[0],  E(0)));
 }
 template <class E, int S> inline
 Mat<3,3,E>
 crossMat(const Vec<3,negator<E>,S>& v) {
     // Here the "-" operators are just recasts, but the casts
     // to type E have to perform floating point negations.
     return Mat<3,3,E>(Row<3,E>( E(0),   -v[2],    E(v[1])),
                       Row<3,E>( E(v[2]), E(0),   -v[0]),
                       Row<3,E>(-v[1],    E(v[0]), E(0)));
 }

 template <class E, int S> inline
 Mat<3,3,E> crossMat(const Row<3,E,S>& r) {return crossMat(r.positionalTranspose());}
 template <class E, int S> inline
 Mat<3,3,E> crossMat(const Row<3,negator<E>,S>& r) {return crossMat(r.positionalTranspose());}

 template <class E, int S> inline
 Row<2,E> crossMat(const Vec<2,E,S>& v) {
     return Row<2,E>(-v[1], v[0]);
 }
 template <class E, int S> inline
 Row<2,E> crossMat(const Vec<2,negator<E>,S>& v) {
     return Row<2,E>(-v[1], E(v[0]));
 }

 template <class E, int S> inline
 Row<2,E> crossMat(const Row<2,E,S>& r) {return crossMat(r.positionalTranspose());}
 template <class E, int S> inline
 Row<2,E> crossMat(const Row<2,negator<E>,S>& r) {return crossMat(r.positionalTranspose());}

     // CROSS MAT SQ

 template <class E, int S> inline
 SymMat<3,E>
 crossMatSq(const Vec<3,E,S>& v) {
     const E xx = square(v[0]);
     const E yy = square(v[1]);
     const E zz = square(v[2]);
     const E nx = -v[0];
     const E ny = -v[1];
     return SymMat<3,E>( yy+zz,
                         nx*v[1], xx+zz,
                         nx*v[2], ny*v[2], xx+yy );
 }
 // Specialize above for negated types. Returned matrix loses negator.
 // The total number of flops here is the same as above: 11 flops.
 template <class E, int S> inline
 SymMat<3,E>
 crossMatSq(const Vec<3,negator<E>,S>& v) {
     const E xx = square(v[0]);
     const E yy = square(v[1]);
     const E zz = square(v[2]);
     const E y = v[1]; // requires a negation to convert to E
     const E z = v[2];
     // The negations in the arguments below are not floating point
     // operations because the element type is already negated.
     return SymMat<3,E>( yy+zz,
                         -v[0]*y,  xx+zz,
                         -v[0]*z, -v[1]*z, xx+yy );
 }

 template <class E, int S> inline
 SymMat<3,E> crossMatSq(const Row<3,E,S>& r) {return crossMatSq(r.positionalTranspose());}
 template <class E, int S> inline
 SymMat<3,E> crossMatSq(const Row<3,negator<E>,S>& r) {return crossMatSq(r.positionalTranspose());}


     // DETERMINANT

 template <class E, int CS, int RS> inline
 E det(const Mat<1,1,E,CS,RS>& m) {
     return m(0,0);
 }

 template <class E, int RS> inline
 E det(const SymMat<1,E,RS>& s) {
     return s.diag()[0]; // s(0,0) is trouble for a 1x1 symmetric
 }

 template <class E, int CS, int RS> inline
 E det(const Mat<2,2,E,CS,RS>& m) {
     // Constant element indices here allow the compiler to select
     // exactly the right element at compile time.
     return E(m(0,0)*m(1,1) - m(0,1)*m(1,0));
 }

 template <class E, int RS> inline
 E det(const SymMat<2,E,RS>& s) {
     // For Hermitian matrix (i.e., E is complex or conjugate), s(0,1)
     // and s(1,0) are complex conjugates of one another. Because of the
     // constant indices here, the SymMat goes right to the correct
     // element, so everything gets done inline here with no conditionals.
     return E(s.getEltDiag(0)*s.getEltDiag(1) - s.getEltUpper(0,1)*s.getEltLower(1,0));
 }

 template <class E, int CS, int RS> inline
 E det(const Mat<3,3,E,CS,RS>& m) {
     return E(  m(0,0)*(m(1,1)*m(2,2)-m(1,2)*m(2,1))
              - m(0,1)*(m(1,0)*m(2,2)-m(1,2)*m(2,0))
              + m(0,2)*(m(1,0)*m(2,1)-m(1,1)*m(2,0)));
 }

 template <class E, int RS> inline
 E det(const SymMat<3,E,RS>& s) {
     return E(  s.getEltDiag(0)*
                 (s.getEltDiag(1)*s.getEltDiag(2)-s.getEltUpper(1,2)*s.getEltLower(2,1))
              - s.getEltUpper(0,1)*
                 (s.getEltLower(1,0)*s.getEltDiag(2)-s.getEltUpper(1,2)*s.getEltLower(2,0))
              + s.getEltUpper(0,2)*
                 (s.getEltLower(1,0)*s.getEltLower(2,1)-s.getEltDiag(1)*s.getEltLower(2,0)));
 }

 template <int M, class E, int CS, int RS> inline
 E det(const Mat<M,M,E,CS,RS>& m) {
     typename CNT<E>::StdNumber sign(1);
     E                          result(0);
     // We're always going to drop the first row.
     const Mat<M-1,M,E,CS,RS>& m2 = m.template getSubMat<M-1,M>(1,0);
     for (int j=0; j < M; ++j) {
         // det() here is recursive but terminates at 3x3 above.
         result += sign*m(0,j)*det(m2.dropCol(j));
         sign = -sign;
     }
     return result;
 }

 template <int M, class E, int RS> inline
 E det(const SymMat<M,E,RS>& s) {
     return det(Mat<M,M,E>(s));
 }


     // INVERSE

 template <class E, int CS, int RS> inline
 typename Mat<1,1,E,CS,RS>::TInvert lapackInverse(const Mat<1,1,E,CS,RS>& m) {
     typedef typename Mat<1,1,E,CS,RS>::TInvert MInv;
     return MInv( E(typename CNT<E>::StdNumber(1)/m(0,0)) );
 }

 template <int M, class E, int CS, int RS> inline
 typename Mat<M,M,E,CS,RS>::TInvert lapackInverse(const Mat<M,M,E,CS,RS>& m) {
     // Copy the source matrix, which has arbitrary row and column spacing,
     // into the type for its inverse, which must be dense, columnwise
     // storage. That means its column spacing will be M and row spacing
     // will be 1, as Lapack expects for a Full matrix.
     typename Mat<M,M,E,CS,RS>::TInvert inv = m; // dense, columnwise storage

     // We'll perform the inversion ignoring negation and conjugation altogether,
     // but the TInvert Mat type negates or conjugates the result. And because
     // of the famous Sherman-Eastman theorem, we know that
     // conj(inv(m))==inv(conj(m)), and of course -inv(m)==inv(-m).
     typedef typename CNT<E>::StdNumber Raw;   // Raw is E without negator or conjugate.
     Raw* rawData = reinterpret_cast<Raw*>(&inv(0,0));
     int ipiv[M], info;

     // This replaces "inv" with its LU facorization and pivot matrix P, such that
     // P*L*U = m (ignoring negation and conjugation).
     Lapack::getrf<Raw>(M,M,rawData,M,&ipiv[0],info);
     SimTK_ASSERT1(info>=0, "Argument %d to Lapack getrf routine was bad", -info);
     SimTK_ERRCHK1_ALWAYS(info==0, "lapackInverse(Mat<>)",
         "Matrix is singular so can't be inverted (Lapack getrf info=%d).", info);

     // The workspace size must be at least M. For larger matrices, Lapack wants
     // to do factorization in blocks of size NB in which case the workspace should
     // be M*NB. However, we will assume that this matrix is small (in the sense
     // that it fits entirely in cache) so the minimum workspace size is fine and
     // we don't need an extra getri call to find the workspace size nor any heap
     // allocation.

     Raw work[M];
     Lapack::getri<Raw>(M,rawData,M,&ipiv[0],&work[0],M,info);
     SimTK_ASSERT1(info>=0, "Argument %d to Lapack getri routine was bad", -info);
     SimTK_ERRCHK1_ALWAYS(info==0, "lapackInverse(Mat<>)",
         "Matrix is singular so can't be inverted (Lapack getri info=%d).", info);
     return inv;
 }


 template <class E, int CS, int RS> inline
 typename Mat<1,1,E,CS,RS>::TInvert inverse(const Mat<1,1,E,CS,RS>& m) {
     typedef typename Mat<1,1,E,CS,RS>::TInvert MInv;
     return MInv( E(typename CNT<E>::StdNumber(1)/m(0,0)) );
 }

 template <class E, int RS> inline
 typename SymMat<1,E,RS>::TInvert inverse(const SymMat<1,E,RS>& s) {
     typedef typename SymMat<1,E,RS>::TInvert SInv;
     return SInv( E(typename CNT<E>::StdNumber(1)/s.diag()[0]) );
 }

 template <class E, int CS, int RS> inline
 typename Mat<2,2,E,CS,RS>::TInvert inverse(const Mat<2,2,E,CS,RS>& m) {
     const E               d  ( det(m) );
     const typename CNT<E>::TInvert ood( typename CNT<E>::StdNumber(1)/d );
     return typename Mat<2,2,E,CS,RS>::TInvert( E( ood*m(1,1)), E(-ood*m(0,1)),
                                                E(-ood*m(1,0)), E( ood*m(0,0)));
 }

 template <class E, int RS> inline
 typename SymMat<2,E,RS>::TInvert inverse(const SymMat<2,E,RS>& s) {
     const E               d  ( det(s) );
     const typename CNT<E>::TInvert ood( typename CNT<E>::StdNumber(1)/d );
     return typename SymMat<2,E,RS>::TInvert( E( ood*s(1,1)),
                                              E(-ood*s(1,0)), E(ood*s(0,0)));
 }

 template <class E, int CS, int RS> inline
 typename Mat<3,3,E,CS,RS>::TInvert inverse(const Mat<3,3,E,CS,RS>& m) {
     // Calculate determinants for each 2x2 submatrix with first row removed.
     // (See the specialized 3x3 determinant routine above.) We're calculating
     // this explicitly here because we can re-use the intermediate terms.
     const E d00 (m(1,1)*m(2,2)-m(1,2)*m(2,1)),
             nd01(m(1,2)*m(2,0)-m(1,0)*m(2,2)),   // -d01
             d02 (m(1,0)*m(2,1)-m(1,1)*m(2,0));

     // This is the 3x3 determinant and its inverse.
     const E d  (m(0,0)*d00 + m(0,1)*nd01 + m(0,2)*d02);
     const typename CNT<E>::TInvert
             ood(typename CNT<E>::StdNumber(1)/d);

     // The other six 2x2 determinants we can't re-use, but we can still
     // avoid some copying by calculating them explicitly here.
     const E nd10(m(0,2)*m(2,1)-m(0,1)*m(2,2)),  // -d10
             d11 (m(0,0)*m(2,2)-m(0,2)*m(2,0)),
             nd12(m(0,1)*m(2,0)-m(0,0)*m(2,1)),  // -d12
             d20 (m(0,1)*m(1,2)-m(0,2)*m(1,1)),
             nd21(m(0,2)*m(1,0)-m(0,0)*m(1,2)),  // -d21
             d22 (m(0,0)*m(1,1)-m(0,1)*m(1,0));

     return typename Mat<3,3,E,CS,RS>::TInvert
        ( E(ood* d00), E(ood*nd10), E(ood* d20),
          E(ood*nd01), E(ood* d11), E(ood*nd21),
          E(ood* d02), E(ood*nd12), E(ood* d22) );
 }

 template <class E, int RS> inline
 typename SymMat<3,E,RS>::TInvert inverse(const SymMat<3,E,RS>& s) {
     // Calculate determinants for each 2x2 submatrix with first row removed.
     // (See the specialized 3x3 determinant routine above.) We're calculating
     // this explicitly here because we can re-use the intermediate terms.
     const E d00 (s(1,1)*s(2,2)-s(1,2)*s(2,1)),
             nd01(s(1,2)*s(2,0)-s(1,0)*s(2,2)),   // -d01
             d02 (s(1,0)*s(2,1)-s(1,1)*s(2,0));

     // This is the 3x3 determinant and its inverse.
     const E d  (s(0,0)*d00 + s(0,1)*nd01 + s(0,2)*d02);
     const typename CNT<E>::TInvert
             ood(typename CNT<E>::StdNumber(1)/d);

     // The other six 2x2 determinants we can't re-use, but we can still
     // avoid some copying by calculating them explicitly here.
     const E d11 (s(0,0)*s(2,2)-s(0,2)*s(2,0)),
             nd12(s(0,1)*s(2,0)-s(0,0)*s(2,1)),  // -d12
             d22 (s(0,0)*s(1,1)-s(0,1)*s(1,0));

     return typename SymMat<3,E,RS>::TInvert
        ( E(ood* d00),
          E(ood*nd01), E(ood* d11),
          E(ood* d02), E(ood*nd12), E(ood* d22) );
 }

 template <int M, class E, int CS, int RS> inline
 typename Mat<M,M,E,CS,RS>::TInvert inverse(const Mat<M,M,E,CS,RS>& m) {
     return lapackInverse(m);
 }

 // Implement the Mat<>::invert() method using the above specialized
 // inverse functions. This will only compile if M==N.
 template <int M, int N, class ELT, int CS, int RS> inline
 typename Mat<M,N,ELT,CS,RS>::TInvert
 Mat<M,N,ELT,CS,RS>::invert() const {
     return SimTK::inverse(*this);
 }

 } //namespace SimTK


 #endif //SimTK_SIMMATRIX_SMALLMATRIX_MIXED_H_
SimTK::Row::positionalTranspose
const TPosTrans & positionalTranspose() const
Definition: Row.h:494

SimTK::cross
Vec< 3, typename CNT< E1 >::template Result< E2 >::Mul > cross(const Vec< 3, E1, S1 > &a, const Vec< 3, E2, S2 > &b)
Definition: SmallMatrixMixed.h:413

SimTK::operator%
Vec< 3, typename CNT< E1 >::template Result< E2 >::Mul > operator%(const Vec< 3, E1, S1 > &a, const Vec< 3, E2, S2 > &b)
Definition: SmallMatrixMixed.h:419

SimTK::outer
Mat< M, M, typename CNT< E1 >::template Result< typename CNT< E2 >::THerm >::Mul > outer(const Vec< M, E1, S1 > &v, const Vec< M, E2, S2 > &w)
Definition: SmallMatrixMixed.h:147

SimTK::SymMat
This is a small, fixed-size symmetric or Hermitian matrix designed for no-overhead inline computation...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:621

SimTK_ERRCHK1_ALWAYS
#define SimTK_ERRCHK1_ALWAYS(cond, whereChecked, fmt, a1)
Definition: ExceptionMacros.h:285

SimTK
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37

SimTK::negator
negator<N>, where N is a number type (real, complex, conjugate), is represented in memory identically...
Definition: String.h:44

SimTK::SymMat::getEltUpper
const EHerm & getEltUpper(int i, int j) const
Definition: SymMat.h:842

SimTK::SymMat::getDiag
const TDiag & getDiag() const
Definition: SymMat.h:818

SimTK::operator==
bool operator==(const PhiMatrix &p1, const PhiMatrix &p2)
Definition: SpatialAlgebra.h:791

SimTK::crossMatSq
SymMat< 3, E > crossMatSq(const Vec< 3, E, S > &v)
Calculate matrix S(v) such that S(v)*w = -v % (v % w) = (v % w) % v.
Definition: SmallMatrixMixed.h:717

SimTK::square
unsigned char square(unsigned char u)
Definition: Scalar.h:349

SimTK_ASSERT1
#define SimTK_ASSERT1(cond, msg, a1)
Definition: ExceptionMacros.h:374

SimTK::SymMat::getEltLower
const E & getEltLower(int i, int j) const
Definition: SymMat.h:838

SimTK::sum
ELEM sum(const VectorBase< ELEM > &v)
Definition: VectorMath.h:147

SimTK::SymMat::getEltDiag
const E & getEltDiag(int i) const
Definition: SymMat.h:834

SimTK::Vec
This is a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:618

SimTK::Mat::invert
TInvert invert() const
Definition: SmallMatrixMixed.h:1004

SimTK::operator*
Matrix_< E > operator*(const MatrixBase< E > &l, const typename CNT< E >::StdNumber &r)
Definition: BigMatrix.h:605

SimTK::CNT::TInvert
K::TInvert TInvert
Definition: CompositeNumericalTypes.h:157

SimTK::det
E det(const Mat< 1, 1, E, CS, RS > &m)
Special case Mat 1x1 determinant. No computation.
Definition: SmallMatrixMixed.h:754

SimTK::CNT::StdNumber
K::StdNumber StdNumber
Definition: CompositeNumericalTypes.h:163

SimTK::crossMat
Mat< 3, 3, E > crossMat(const Vec< 3, E, S > &v)
Calculate matrix M(v) such that M(v)*w = v % w.
Definition: SmallMatrixMixed.h:649

SimTK::CNT
Specialized information about Composite Numerical Types which allows us to define appropriate templat...
Definition: CompositeNumericalTypes.h:136

SimTK::dot
CNT< typename CNT< E1 >::THerm >::template Result< E2 >::Mul dot(const Vec< M, E1, S1 > &r, const Vec< M, E2, S2 > &v)
Definition: SmallMatrixMixed.h:86

SimTK::SymMat::TInvert
SymMat< M, EInvert, 1 > TInvert
Definition: SymMat.h:162

SimTK::Row
This is a fixed-length row vector designed for no-overhead inline computation.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:619

SimTK::E
const Real E
e = Real(exp(1))

SimTK::Mat::TInvert
Mat< N, M, EInvert, N, 1 > TInvert
Definition: Mat.h:171

SimTK::sign
unsigned int sign(unsigned char u)
Definition: Scalar.h:311

SimTK::inverse
Mat< 1, 1, E, CS, RS >::TInvert inverse(const Mat< 1, 1, E, CS, RS > &m)
Specialized 1x1 Mat inverse: costs one divide.
Definition: SmallMatrixMixed.h:899

SimTK::operator!=
bool operator!=(const L &left, const R &right)
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:641

SimTK::Mat
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:620

SimTK::lapackInverse
Mat< 1, 1, E, CS, RS >::TInvert lapackInverse(const Mat< 1, 1, E, CS, RS > &m)
Specialized 1x1 lapackInverse(): costs one divide.
Definition: SmallMatrixMixed.h:843

SimTK::SymMat::diag
const TDiag & diag() const
Definition: SymMat.h:822