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nmrGaussJordanInverse.h
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1/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*- */
2/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
3
4/*
5
6 Author(s): Ofri Sadowsky
7 Created on: 2005-09-23
8
9 (C) Copyright 2005-2007 Johns Hopkins University (JHU), All Rights
10 Reserved.
11
12--- begin cisst license - do not edit ---
13
14This software is provided "as is" under an open source license, with
15no warranty. The complete license can be found in license.txt and
16http://www.cisst.org/cisst/license.txt.
17
18--- end cisst license ---
19*/
20
21#ifndef _nmrGaussJordanInverse_h
22#define _nmrGaussJordanInverse_h
23
27
28#include <cisstCommon/cmnPortability.h>
29#include <cisstVector/vctForwardDeclarations.h>
30
31// Always the last file to include!
32#include <cisstNumerical/nmrExport.h>
33
69
71
72template<class _elementType, bool _rowMajorIn, bool _rowMajorOut>
73CISST_EXPORT
74void nmrGaussJordanInverse2x2(
75 vctFixedSizeMatrix<_elementType, 2, 2, _rowMajorIn> A,
76 bool & nonsingular,
77 vctFixedSizeMatrix<_elementType, 2, 2, _rowMajorOut> & Ainv,
78 const _elementType singularityTolerance);
79
81template<class _elementType, bool _rowMajorIn, bool _rowMajorOut>
82CISST_EXPORT
83void nmrGaussJordanInverse3x3(
84 vctFixedSizeMatrix<_elementType, 3, 3, _rowMajorIn> A,
85 bool & nonsingular,
86 vctFixedSizeMatrix<_elementType, 3, 3, _rowMajorOut> & Ainv,
87 const _elementType singularityTolerance);
88
90template<class _elementType, bool _rowMajorIn, bool _rowMajorOut>
91CISST_EXPORT
92void nmrGaussJordanInverse4x4(
93 vctFixedSizeMatrix<_elementType, 4, 4, _rowMajorIn> A,
94 bool & nonsingular,
95 vctFixedSizeMatrix<_elementType, 4, 4, _rowMajorOut> & Ainv,
96 const _elementType singularityTolerance);
98
99
100#ifndef DOXYGEN
101#ifdef CISST_COMPILER_IS_MSVC
102// --- double 2x2 ---
103template CISST_EXPORT void
104nmrGaussJordanInverse2x2(vctFixedSizeMatrix<double, 2, 2, VCT_ROW_MAJOR>, bool &,
105 vctFixedSizeMatrix<double, 2, 2, VCT_ROW_MAJOR> &,
106 const double);
107template CISST_EXPORT void
108nmrGaussJordanInverse2x2(vctFixedSizeMatrix<double, 2, 2, VCT_ROW_MAJOR>, bool &,
109 vctFixedSizeMatrix<double, 2, 2, VCT_COL_MAJOR> &,
110 const double);
111template CISST_EXPORT void
112nmrGaussJordanInverse2x2(vctFixedSizeMatrix<double, 2, 2, VCT_COL_MAJOR>, bool &,
113 vctFixedSizeMatrix<double, 2, 2, VCT_ROW_MAJOR> &,
114 const double);
115template CISST_EXPORT void
116nmrGaussJordanInverse2x2(vctFixedSizeMatrix<double, 2, 2, VCT_COL_MAJOR>, bool &,
117 vctFixedSizeMatrix<double, 2, 2, VCT_COL_MAJOR> &,
118 const double);
119// --- float 2x2 ---
120template CISST_EXPORT void
121nmrGaussJordanInverse2x2(vctFixedSizeMatrix<float, 2, 2, VCT_ROW_MAJOR>, bool &,
122 vctFixedSizeMatrix<float, 2, 2, VCT_ROW_MAJOR> &,
123 const float);
124template CISST_EXPORT void
125nmrGaussJordanInverse2x2(vctFixedSizeMatrix<float, 2, 2, VCT_ROW_MAJOR>, bool &,
126 vctFixedSizeMatrix<float, 2, 2, VCT_COL_MAJOR> &,
127 const float);
128template CISST_EXPORT void
129nmrGaussJordanInverse2x2(vctFixedSizeMatrix<float, 2, 2, VCT_COL_MAJOR>, bool &,
130 vctFixedSizeMatrix<float, 2, 2, VCT_ROW_MAJOR> &,
131 const float);
132template CISST_EXPORT void
133nmrGaussJordanInverse2x2(vctFixedSizeMatrix<float, 2, 2, VCT_COL_MAJOR>, bool &,
134 vctFixedSizeMatrix<float, 2, 2, VCT_COL_MAJOR> &,
135 const float);
136// --- double 3x3 ---
137template CISST_EXPORT void
138nmrGaussJordanInverse3x3(vctFixedSizeMatrix<double, 3, 3, VCT_ROW_MAJOR>, bool &,
139 vctFixedSizeMatrix<double, 3, 3, VCT_ROW_MAJOR> &,
140 const double);
141template CISST_EXPORT void
142nmrGaussJordanInverse3x3(vctFixedSizeMatrix<double, 3, 3, VCT_ROW_MAJOR>, bool &,
143 vctFixedSizeMatrix<double, 3, 3, VCT_COL_MAJOR> &,
144 const double);
145template CISST_EXPORT void
146nmrGaussJordanInverse3x3(vctFixedSizeMatrix<double, 3, 3, VCT_COL_MAJOR>, bool &,
147 vctFixedSizeMatrix<double, 3, 3, VCT_ROW_MAJOR> &,
148 const double);
149template CISST_EXPORT void
150nmrGaussJordanInverse3x3(vctFixedSizeMatrix<double, 3, 3, VCT_COL_MAJOR>, bool &,
151 vctFixedSizeMatrix<double, 3, 3, VCT_COL_MAJOR> &,
152 const double);
153// --- float 3x3 ---
154template CISST_EXPORT void
155nmrGaussJordanInverse3x3(vctFixedSizeMatrix<float, 3, 3, VCT_ROW_MAJOR>, bool &,
156 vctFixedSizeMatrix<float, 3, 3, VCT_ROW_MAJOR> &,
157 const float);
158template CISST_EXPORT void
159nmrGaussJordanInverse3x3(vctFixedSizeMatrix<float, 3, 3, VCT_ROW_MAJOR>, bool &,
160 vctFixedSizeMatrix<float, 3, 3, VCT_COL_MAJOR> &,
161 const float);
162template CISST_EXPORT void
163nmrGaussJordanInverse3x3(vctFixedSizeMatrix<float, 3, 3, VCT_COL_MAJOR>, bool &,
164 vctFixedSizeMatrix<float, 3, 3, VCT_ROW_MAJOR> &,
165 const float);
166template CISST_EXPORT void
167nmrGaussJordanInverse3x3(vctFixedSizeMatrix<float, 3, 3, VCT_COL_MAJOR>, bool &,
168 vctFixedSizeMatrix<float, 3, 3, VCT_COL_MAJOR> &,
169 const float);
170// --- double 4x4 ---
171template CISST_EXPORT void
172nmrGaussJordanInverse4x4(vctFixedSizeMatrix<double, 4, 4, VCT_ROW_MAJOR>, bool &,
173 vctFixedSizeMatrix<double, 4, 4, VCT_ROW_MAJOR> &,
174 const double);
175template CISST_EXPORT void
176nmrGaussJordanInverse4x4(vctFixedSizeMatrix<double, 4, 4, VCT_ROW_MAJOR>, bool &,
177 vctFixedSizeMatrix<double, 4, 4, VCT_COL_MAJOR> &,
178 const double);
179template CISST_EXPORT void
180nmrGaussJordanInverse4x4(vctFixedSizeMatrix<double, 4, 4, VCT_COL_MAJOR>, bool &,
181 vctFixedSizeMatrix<double, 4, 4, VCT_ROW_MAJOR> &,
182 const double);
183template CISST_EXPORT void
184nmrGaussJordanInverse4x4(vctFixedSizeMatrix<double, 4, 4, VCT_COL_MAJOR>, bool &,
185 vctFixedSizeMatrix<double, 4, 4, VCT_COL_MAJOR> &,
186 const double);
187// --- float 4x4 ---
188template CISST_EXPORT void
189nmrGaussJordanInverse4x4(vctFixedSizeMatrix<float, 4, 4, VCT_ROW_MAJOR>, bool &,
190 vctFixedSizeMatrix<float, 4, 4, VCT_ROW_MAJOR> &,
191 const float);
192template CISST_EXPORT void
193nmrGaussJordanInverse4x4(vctFixedSizeMatrix<float, 4, 4, VCT_ROW_MAJOR>, bool &,
194 vctFixedSizeMatrix<float, 4, 4, VCT_COL_MAJOR> &,
195 const float);
196template CISST_EXPORT void
197nmrGaussJordanInverse4x4(vctFixedSizeMatrix<float, 4, 4, VCT_COL_MAJOR>, bool &,
198 vctFixedSizeMatrix<float, 4, 4, VCT_ROW_MAJOR> &,
199 const float);
200template CISST_EXPORT void
201nmrGaussJordanInverse4x4(vctFixedSizeMatrix<float, 4, 4, VCT_COL_MAJOR>, bool &,
202 vctFixedSizeMatrix<float, 4, 4, VCT_COL_MAJOR> &,
203 const float);
204#endif // CISST_COMPILER_IS_MSVC
205#endif // DOXYGEN
206
207#endif // _nmrGaussJordanInverse_h
208
vctFixedSizeMatrix
Implementation of a fixed-size matrix using template metaprogramming.
Definition vctFixedSizeMatrix.h:54
CISST_EXPORT
#define CISST_EXPORT
Definition cmnExportMacros.h:50
cmnPortability.h
Portability across compilers and operating systems tools.
nmrExport.h
Rules of exporting.
nmrGaussJordanInverse4x4
CISST_EXPORT void nmrGaussJordanInverse4x4(vctFixedSizeMatrix< _elementType, 4, 4, _rowMajorIn > A, bool &nonsingular, vctFixedSizeMatrix< _elementType, 4, 4, _rowMajorOut > &Ainv, const _elementType singularityTolerance)
nmrGaussJordanInverse2x2
CISST_EXPORT void nmrGaussJordanInverse2x2(vctFixedSizeMatrix< _elementType, 2, 2, _rowMajorIn > A, bool &nonsingular, vctFixedSizeMatrix< _elementType, 2, 2, _rowMajorOut > &Ainv, const _elementType singularityTolerance)
nmrGaussJordanInverse3x3
CISST_EXPORT void nmrGaussJordanInverse3x3(vctFixedSizeMatrix< _elementType, 3, 3, _rowMajorIn > A, bool &nonsingular, vctFixedSizeMatrix< _elementType, 3, 3, _rowMajorOut > &Ainv, const _elementType singularityTolerance)
vctForwardDeclarations.h
Forward declarations and #define for cisstVector.
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