vctFixedSizeMatrix.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s):    Ofri Sadowsky
  Created on:   2003-11-04

  (C) Copyright 2003-2007 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#pragma once
#ifndef _vctFixedSizeMatrix_h
#define _vctFixedSizeMatrix_h

#include <cisstVector/vctFixedSizeConstMatrixRef.h>
#include <cisstVector/vctFixedSizeMatrixRef.h>


template<class _elementType, vct::size_type _rows, vct::size_type _cols, bool _rowMajor>
class vctFixedSizeMatrix : public vctFixedSizeMatrixBase
<_rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows, _elementType,
 typename vctFixedSizeMatrixTraits<_elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows>::array >
{
 public:
    /* define most types from vctContainerTraits */
    VCT_CONTAINER_TRAITS_TYPEDEFS(_elementType);

    /* no need to document, inherit doxygen documentation from vctFixedSizeVectorBase */
    typedef vctFixedSizeMatrixTraits<_elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows> MatrixTraits;

    typedef vctFixedSizeMatrixBase<_rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows, _elementType,
        typename vctFixedSizeMatrixTraits<_elementType, _rows, _cols,
        _rowMajor?_cols:1, _rowMajor?1:_rows>::array >
        BaseType;
    typedef vctFixedSizeMatrix<_elementType, _rows, _cols, _rowMajor> ThisType;

    typedef typename MatrixTraits::iterator iterator;
    typedef typename MatrixTraits::const_iterator const_iterator;
    typedef typename MatrixTraits::reverse_iterator reverse_iterator;
    typedef typename MatrixTraits::const_reverse_iterator const_reverse_iterator;

    typedef class cmnTypeTraits<value_type> TypeTraits;
    typedef typename TypeTraits::VaArgPromotion ElementVaArgPromotion;

    vctFixedSizeMatrix()
    {}

    explicit inline vctFixedSizeMatrix(const value_type & value) {
        this->SetAll(value);
    }

    inline vctFixedSizeMatrix(const value_type element0, const value_type element1, ...)
    {
        CMN_ASSERT( this->size() > 1 );
        (*this).at(0) = element0;
        (*this).at(1) = element1;
        index_type elementIndex = 2;
        const size_type numElements = this->size();
        va_list nextArg;
        va_start(nextArg, element1);
        for (; elementIndex < numElements; ++elementIndex) {
            (*this).at(elementIndex) = value_type( va_arg(nextArg, ElementVaArgPromotion) );
        }
        va_end(nextArg);
    }

    template <class __elementType, stride_type __rowStride, stride_type __colStride, class __dataPtrType>
    explicit inline
    vctFixedSizeMatrix(const vctFixedSizeConstMatrixBase<_rows, _cols, __rowStride, __colStride, __elementType, __dataPtrType> & matrix) {
        this->Assign(matrix);
    }

    template <class __matrixOwnerType>
    inline vctFixedSizeMatrix(const vctDynamicConstMatrixBase<__matrixOwnerType, value_type> & matrix)
    {
        this->Assign(matrix);
    }

    template <stride_type __rowStride, stride_type __colStride, class __elementType, class __dataPtrType>
    inline ThisType & operator = (const vctFixedSizeConstMatrixBase<_rows, _cols, __rowStride, __colStride, __elementType,__dataPtrType> & other) {
        // Experimental static_cast replacing reinterpret_cast.  Return the reinterpret_cast if you encounter
        // compilation errors.
        return static_cast<ThisType &>(this->Assign(other));
    }

    inline ThisType & operator = (const ThisType & other) {
        return static_cast<ThisType &>(this->Assign(other));
    }

    template <stride_type __rowStride, stride_type __colStride>
    inline ThisType & operator = (const vctFixedSizeConstMatrixRef<value_type, _rows, _cols, __rowStride, __colStride> & other)
    {
        return static_cast<ThisType &>(this->Assign(other));
    }

    template <stride_type __rowStride, stride_type __colStride, class __elementType>
    inline ThisType & operator = (const vctFixedSizeConstMatrixRef<__elementType, _rows, _cols, __rowStride, __colStride> & other)
    {
        this->Assign(other);
        return *this;
    }

    inline ThisType & operator = (const value_type & value) {
        this->SetAll(value);
        return *this;
    }

};




template <vct::size_type _rows, vct::size_type _cols,
          vct::stride_type _input1RowStride, vct::stride_type _input1ColStride, class _input1Data,
          vct::stride_type _input2RowStride, vct::stride_type _input2ColStride, class _input2Data, class _elementType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator + (const vctFixedSizeConstMatrixBase<_rows, _cols, _input1RowStride, _input1ColStride, _elementType, _input1Data> & matrix1,
            const vctFixedSizeConstMatrixBase<_rows, _cols, _input2RowStride, _input2ColStride, _elementType, _input2Data> & matrix2) {
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.SumOf(matrix1, matrix2);
    return result;
}

/* documented above */
template <vct::size_type _rows, vct::size_type _cols,
          vct::stride_type _input1RowStride, vct::stride_type _input1ColStride, class _input1Data,
          vct::stride_type _input2RowStride, vct::stride_type _input2ColStride, class _input2Data, class _elementType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator - (const vctFixedSizeConstMatrixBase<_rows, _cols, _input1RowStride, _input1ColStride, _elementType, _input1Data> & matrix1,
            const vctFixedSizeConstMatrixBase<_rows, _cols, _input2RowStride, _input2ColStride, _elementType, _input2Data> & matrix2) {
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.DifferenceOf(matrix1, matrix2);
    return result;
}


template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator + (const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix,
            const _elementType & scalar)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.SumOf(matrix, scalar);
    return result;
}

/* documented above */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator - (const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix,
            const _elementType & scalar)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.DifferenceOf(matrix, scalar);
    return result;
}

/* documented above */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator * (const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix,
            const _elementType & scalar)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.ProductOf(matrix, scalar);
    return result;
}

/* documented above */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator / (const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix,
            const _elementType & scalar)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.RatioOf(matrix, scalar);
    return result;
}


template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator + (const _elementType & scalar,
            const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.SumOf(scalar, matrix);
    return result;
}

/* documented above */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator - (const _elementType & scalar,
            const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.DifferenceOf(scalar, matrix);
    return result;
}

/* documented above */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator * (const _elementType & scalar,
            const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.ProductOf(scalar, matrix);
    return result;
}

/* documented above */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator / (const _elementType & scalar,
            const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.RatioOf(scalar, matrix);
    return result;
}



template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator - (const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType> & matrix)
{
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.NegationOf(matrix);
    return result;
}


template <vct::size_type _rows, vct::size_type _cols, vct::size_type _input1Cols,
          vct::stride_type _input1RowStride, vct::stride_type _input1ColStride, class _input1DataPtrType,
          vct::stride_type _input2RowStride, vct::stride_type _input2ColStride, class _input2DataPtrType,
          class _elementType>
inline vctFixedSizeMatrix<_elementType, _rows, _cols>
operator * (const vctFixedSizeConstMatrixBase<_rows, _input1Cols, _input1RowStride, _input1ColStride, _elementType, _input1DataPtrType> & input1Matrix,
            const vctFixedSizeConstMatrixBase<_input1Cols, _cols, _input2RowStride, _input2ColStride, _elementType, _input2DataPtrType> & input2Matrix) {
    vctFixedSizeMatrix<_elementType, _rows, _cols> result;
    result.ProductOf(input1Matrix, input2Matrix);
    return result;
}


template <vct::size_type _rows, vct::size_type _cols,
          vct::stride_type _inputMatrixRowStride, vct::stride_type _inputMatrixColStride, class _inputMAtrixDataPtrType,
          vct::stride_type _inputVectorStride, class _inputVectorDataPtrType,
          class _elementType>
inline vctFixedSizeVector<_elementType, _rows>
operator * (const vctFixedSizeConstMatrixBase<_rows, _cols, _inputMatrixRowStride, _inputMatrixColStride, _elementType, _inputMAtrixDataPtrType> & inputMatrix,
            const vctFixedSizeConstVectorBase<_cols, _inputVectorStride, _elementType, _inputVectorDataPtrType> & inputVector)
{
    vctFixedSizeVector<_elementType, _rows> result;
    result.ProductOf(inputMatrix, inputVector);
    return result;
}


template <vct::size_type _rows, vct::size_type _cols,
          vct::stride_type _inputVectorStride, class _inputVectorDataPtrType,
          vct::stride_type _inputMatrixRowStride, vct::stride_type _inputMatrixColStride, class _inputMatrixDataPtrType,
          class _elementType>
inline vctFixedSizeVector<_elementType, _cols>
operator * (const vctFixedSizeConstVectorBase<_rows, _inputVectorStride, _elementType, _inputVectorDataPtrType> & inputVector,
            const vctFixedSizeConstMatrixBase<_rows, _cols, _inputMatrixRowStride, _inputMatrixColStride, _elementType, _inputMatrixDataPtrType> & inputMatrix)
{
    vctFixedSizeVector<_elementType, _cols> result;
    result.ProductOf(inputVector, inputMatrix);
    return result;
}


/*
  Methods declared previously and implemented here because they require vctFixedSizeVector
*/
#ifndef DOXYGEN

/* documented in class vctFixedSizeConstMatrixBase */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline typename  vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::MatrixValueType
vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::Abs(void) const {
    MatrixValueType result;
    vctFixedSizeMatrixLoopEngines::
        MoMi<typename vctUnaryOperations<_elementType>::AbsValue>::
        Run(result, *this);
    return result;
}

/* documented in class vctFixedSizeConstMatrixBase */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline typename  vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::MatrixValueType
vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::Negation(void) const {
    MatrixValueType result;
    vctFixedSizeMatrixLoopEngines::
        MoMi<typename vctUnaryOperations<_elementType>::Negation>::
        Run(result, *this);
    return result;
}

/* documented in class vctFixedSizeConstMatrixBase */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline typename  vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::MatrixValueType
vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::Floor(void) const {
    MatrixValueType result;
    vctFixedSizeMatrixLoopEngines::
        MoMi<typename vctUnaryOperations<_elementType>::Floor>::
        Run(result, *this);
    return result;
}

/* documented in class vctFixedSizeConstMatrixBase */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
inline typename  vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::MatrixValueType
vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::Ceil(void) const {
    MatrixValueType result;
    vctFixedSizeMatrixLoopEngines::
        MoMi<typename vctUnaryOperations<_elementType>::Ceil>::
        Run(result, *this);
    return result;
}

/* documented in class vctFixedSizeConstMatrixBase */
template <vct::size_type _rows, vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _elementType, class _dataPtrType>
const typename vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::MatrixValueType &
vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType>::Eye(void) {
    static MatrixValueType result(_elementType(0));
#if (CISST_COMPILER == CISST_GCC) || (CISST_COMPILER == CISST_CLANG)
    result.Diagonal().SetAll(_elementType(1));
#else
    static _elementType value(result.Diagonal().SetAll(_elementType(1)));
#endif
    return result;
}

/* documented in class vctFixedSizeConstMatrixBase */
template <vct::size_type _rows, vct::size_type _cols,
          vct::stride_type _rowStride, vct::stride_type _colStride, class _dataPtrType,
          vct::stride_type __rowStride, vct::stride_type __colStride, class __dataPtrType,
          class _elementType,
          class _elementOperationType>
inline vctFixedSizeMatrix<bool, _rows, _cols>
vctFixedSizeMatrixElementwiseCompareMatrix(const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride,
                                           _elementType, _dataPtrType> & matrix1,
                                           const vctFixedSizeConstMatrixBase<_rows, _cols, __rowStride, __colStride,
                                           _elementType, __dataPtrType> & matrix2) {
    vctFixedSizeMatrix<bool, _rows, _cols> result;
    vctFixedSizeMatrixLoopEngines::
        MoMiMi<_elementOperationType>::Run(result, matrix1, matrix2);
    return result;
}

/* documented in class vctFixedSizeConstMatrixBase */
template <vct::size_type _rows, vct::size_type _cols,
          vct::stride_type _rowStride, vct::stride_type _colStride, class _dataPtrType,
          class _elementType,
          class _elementOperationType>
inline vctFixedSizeMatrix<bool, _rows, _cols>
vctFixedSizeMatrixElementwiseCompareScalar(const vctFixedSizeConstMatrixBase<_rows, _cols, _rowStride, _colStride,
                                           _elementType, _dataPtrType> & matrix,
                                           const _elementType & scalar) {
    vctFixedSizeMatrix<bool, _rows, _cols> result;
    vctFixedSizeMatrixLoopEngines::
        MoMiSi<_elementOperationType>::Run(result, matrix, scalar);
    return result;
}
#endif // DOXYGEN


#endif // _vctFixedSizeMatrix_h