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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 
14 This software is provided "as is" under an open source license, with
15 no warranty. The complete license can be found in license.txt and
16 http://www.cisst.org/cisst/license.txt.
17 
18 --- end cisst license ---
19 */
20 
21 #ifndef _nmrGaussJordanInverse_h
22 #define _nmrGaussJordanInverse_h
23 
28 #include <cisstCommon/cmnPortability.h>
29 #include <cisstVector/vctForwardDeclarations.h>
30 
31 // Always the last file to include!
32 #include <cisstNumerical/nmrExport.h>
33 
72 template<class _elementType, bool _rowMajorIn, bool _rowMajorOut>
73 CISST_EXPORT
74 void nmrGaussJordanInverse2x2(
75  vctFixedSizeMatrix<_elementType, 2, 2, _rowMajorIn> A,
76  bool & nonsingular,
77  vctFixedSizeMatrix<_elementType, 2, 2, _rowMajorOut> & Ainv,
78  const _elementType singularityTolerance);
79 
81 template<class _elementType, bool _rowMajorIn, bool _rowMajorOut>
82 CISST_EXPORT
83 void nmrGaussJordanInverse3x3(
84  vctFixedSizeMatrix<_elementType, 3, 3, _rowMajorIn> A,
85  bool & nonsingular,
86  vctFixedSizeMatrix<_elementType, 3, 3, _rowMajorOut> & Ainv,
87  const _elementType singularityTolerance);
88 
90 template<class _elementType, bool _rowMajorIn, bool _rowMajorOut>
91 CISST_EXPORT
92 void 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 ---
103 template CISST_EXPORT void
104 nmrGaussJordanInverse2x2(vctFixedSizeMatrix<double, 2, 2, VCT_ROW_MAJOR>, bool &,
105  vctFixedSizeMatrix<double, 2, 2, VCT_ROW_MAJOR> &,
106  const double);
107 template CISST_EXPORT void
108 nmrGaussJordanInverse2x2(vctFixedSizeMatrix<double, 2, 2, VCT_ROW_MAJOR>, bool &,
109  vctFixedSizeMatrix<double, 2, 2, VCT_COL_MAJOR> &,
110  const double);
111 template CISST_EXPORT void
112 nmrGaussJordanInverse2x2(vctFixedSizeMatrix<double, 2, 2, VCT_COL_MAJOR>, bool &,
113  vctFixedSizeMatrix<double, 2, 2, VCT_ROW_MAJOR> &,
114  const double);
115 template CISST_EXPORT void
116 nmrGaussJordanInverse2x2(vctFixedSizeMatrix<double, 2, 2, VCT_COL_MAJOR>, bool &,
117  vctFixedSizeMatrix<double, 2, 2, VCT_COL_MAJOR> &,
118  const double);
119 // --- float 2x2 ---
120 template CISST_EXPORT void
121 nmrGaussJordanInverse2x2(vctFixedSizeMatrix<float, 2, 2, VCT_ROW_MAJOR>, bool &,
122  vctFixedSizeMatrix<float, 2, 2, VCT_ROW_MAJOR> &,
123  const float);
124 template CISST_EXPORT void
125 nmrGaussJordanInverse2x2(vctFixedSizeMatrix<float, 2, 2, VCT_ROW_MAJOR>, bool &,
126  vctFixedSizeMatrix<float, 2, 2, VCT_COL_MAJOR> &,
127  const float);
128 template CISST_EXPORT void
129 nmrGaussJordanInverse2x2(vctFixedSizeMatrix<float, 2, 2, VCT_COL_MAJOR>, bool &,
130  vctFixedSizeMatrix<float, 2, 2, VCT_ROW_MAJOR> &,
131  const float);
132 template CISST_EXPORT void
133 nmrGaussJordanInverse2x2(vctFixedSizeMatrix<float, 2, 2, VCT_COL_MAJOR>, bool &,
134  vctFixedSizeMatrix<float, 2, 2, VCT_COL_MAJOR> &,
135  const float);
136 // --- double 3x3 ---
137 template CISST_EXPORT void
138 nmrGaussJordanInverse3x3(vctFixedSizeMatrix<double, 3, 3, VCT_ROW_MAJOR>, bool &,
139  vctFixedSizeMatrix<double, 3, 3, VCT_ROW_MAJOR> &,
140  const double);
141 template CISST_EXPORT void
142 nmrGaussJordanInverse3x3(vctFixedSizeMatrix<double, 3, 3, VCT_ROW_MAJOR>, bool &,
143  vctFixedSizeMatrix<double, 3, 3, VCT_COL_MAJOR> &,
144  const double);
145 template CISST_EXPORT void
146 nmrGaussJordanInverse3x3(vctFixedSizeMatrix<double, 3, 3, VCT_COL_MAJOR>, bool &,
147  vctFixedSizeMatrix<double, 3, 3, VCT_ROW_MAJOR> &,
148  const double);
149 template CISST_EXPORT void
150 nmrGaussJordanInverse3x3(vctFixedSizeMatrix<double, 3, 3, VCT_COL_MAJOR>, bool &,
151  vctFixedSizeMatrix<double, 3, 3, VCT_COL_MAJOR> &,
152  const double);
153 // --- float 3x3 ---
154 template CISST_EXPORT void
155 nmrGaussJordanInverse3x3(vctFixedSizeMatrix<float, 3, 3, VCT_ROW_MAJOR>, bool &,
156  vctFixedSizeMatrix<float, 3, 3, VCT_ROW_MAJOR> &,
157  const float);
158 template CISST_EXPORT void
159 nmrGaussJordanInverse3x3(vctFixedSizeMatrix<float, 3, 3, VCT_ROW_MAJOR>, bool &,
160  vctFixedSizeMatrix<float, 3, 3, VCT_COL_MAJOR> &,
161  const float);
162 template CISST_EXPORT void
163 nmrGaussJordanInverse3x3(vctFixedSizeMatrix<float, 3, 3, VCT_COL_MAJOR>, bool &,
164  vctFixedSizeMatrix<float, 3, 3, VCT_ROW_MAJOR> &,
165  const float);
166 template CISST_EXPORT void
167 nmrGaussJordanInverse3x3(vctFixedSizeMatrix<float, 3, 3, VCT_COL_MAJOR>, bool &,
168  vctFixedSizeMatrix<float, 3, 3, VCT_COL_MAJOR> &,
169  const float);
170 // --- double 4x4 ---
171 template CISST_EXPORT void
172 nmrGaussJordanInverse4x4(vctFixedSizeMatrix<double, 4, 4, VCT_ROW_MAJOR>, bool &,
173  vctFixedSizeMatrix<double, 4, 4, VCT_ROW_MAJOR> &,
174  const double);
175 template CISST_EXPORT void
176 nmrGaussJordanInverse4x4(vctFixedSizeMatrix<double, 4, 4, VCT_ROW_MAJOR>, bool &,
177  vctFixedSizeMatrix<double, 4, 4, VCT_COL_MAJOR> &,
178  const double);
179 template CISST_EXPORT void
180 nmrGaussJordanInverse4x4(vctFixedSizeMatrix<double, 4, 4, VCT_COL_MAJOR>, bool &,
181  vctFixedSizeMatrix<double, 4, 4, VCT_ROW_MAJOR> &,
182  const double);
183 template CISST_EXPORT void
184 nmrGaussJordanInverse4x4(vctFixedSizeMatrix<double, 4, 4, VCT_COL_MAJOR>, bool &,
185  vctFixedSizeMatrix<double, 4, 4, VCT_COL_MAJOR> &,
186  const double);
187 // --- float 4x4 ---
188 template CISST_EXPORT void
189 nmrGaussJordanInverse4x4(vctFixedSizeMatrix<float, 4, 4, VCT_ROW_MAJOR>, bool &,
190  vctFixedSizeMatrix<float, 4, 4, VCT_ROW_MAJOR> &,
191  const float);
192 template CISST_EXPORT void
193 nmrGaussJordanInverse4x4(vctFixedSizeMatrix<float, 4, 4, VCT_ROW_MAJOR>, bool &,
194  vctFixedSizeMatrix<float, 4, 4, VCT_COL_MAJOR> &,
195  const float);
196 template CISST_EXPORT void
197 nmrGaussJordanInverse4x4(vctFixedSizeMatrix<float, 4, 4, VCT_COL_MAJOR>, bool &,
198  vctFixedSizeMatrix<float, 4, 4, VCT_ROW_MAJOR> &,
199  const float);
200 template CISST_EXPORT void
201 nmrGaussJordanInverse4x4(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 
CISST_EXPORT
#define CISST_EXPORT
Definition: cmnExportMacros.h:50
nmrGaussJordanInverse3x3
CISST_EXPORT void nmrGaussJordanInverse3x3(vctFixedSizeMatrix< _elementType, 3, 3, _rowMajorIn > A, bool &nonsingular, vctFixedSizeMatrix< _elementType, 3, 3, _rowMajorOut > &Ainv, const _elementType singularityTolerance)
cmnPortability.h
Portability across compilers and operating systems tools.
vctForwardDeclarations.h
Forward declarations and #define for cisstVector.
nmrGaussJordanInverse2x2
CISST_EXPORT void nmrGaussJordanInverse2x2(vctFixedSizeMatrix< _elementType, 2, 2, _rowMajorIn > A, bool &nonsingular, vctFixedSizeMatrix< _elementType, 2, 2, _rowMajorOut > &Ainv, const _elementType singularityTolerance)
nmrGaussJordanInverse4x4
CISST_EXPORT void nmrGaussJordanInverse4x4(vctFixedSizeMatrix< _elementType, 4, 4, _rowMajorIn > A, bool &nonsingular, vctFixedSizeMatrix< _elementType, 4, 4, _rowMajorOut > &Ainv, const _elementType singularityTolerance)
vctFixedSizeMatrix
Implementation of a fixed-size matrix using template metaprogramming.
Definition: vctFixedSizeMatrix.h:52
nmrExport.h
Rules of exporting.
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