OpenWalnut
1.2.5
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00001 //--------------------------------------------------------------------------- 00002 // 00003 // Project: OpenWalnut ( http://www.openwalnut.org ) 00004 // 00005 // Copyright 2009 OpenWalnut Community, BSV@Uni-Leipzig and CNCF@MPI-CBS 00006 // For more information see http://www.openwalnut.org/copying 00007 // 00008 // This file is part of OpenWalnut. 00009 // 00010 // OpenWalnut is free software: you can redistribute it and/or modify 00011 // it under the terms of the GNU Lesser General Public License as published by 00012 // the Free Software Foundation, either version 3 of the License, or 00013 // (at your option) any later version. 00014 // 00015 // OpenWalnut is distributed in the hope that it will be useful, 00016 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 // GNU Lesser General Public License for more details. 00019 // 00020 // You should have received a copy of the GNU Lesser General Public License 00021 // along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>. 00022 // 00023 //--------------------------------------------------------------------------- 00024 00025 #ifndef WLINEARALGEBRAFUNCTIONS_H 00026 #define WLINEARALGEBRAFUNCTIONS_H 00027 00028 #include "../WExportCommon.h" 00029 #include "WMatrix.h" 00030 #include "linearAlgebra/WLinearAlgebra.h" 00031 00032 template< typename > class WMatrix; 00033 00034 /** 00035 * helper routine to multiply a 3x3 matrix with a vector 00036 * 00037 * \param mat 3x3 matrix 00038 * \param vec vector 00039 */ 00040 WVector3d OWCOMMON_EXPORT multMatrixWithVector3D( WMatrix<double> mat, WVector3d vec ); 00041 00042 /** 00043 * Applies a coordinate transformation in homogenous coordinates to a vector. 00044 * This differs from transformPosition3DWithMatrix4D in that it DOES NOT incorporate the translation 00045 * 00046 * \param mat 4x4 matrix 00047 * \param vec vector 00048 */ 00049 WVector3d OWCOMMON_EXPORT transformVector3DWithMatrix4D( WMatrix<double> mat, WVector3d vec ); 00050 00051 /** 00052 * Applies a coordinate transformation in homogenous coordinates to a position. 00053 * This differs from transformVector3DWithMatrix4D in that it incorporates the translation. 00054 * 00055 * \param mat 4x4 matrix 00056 * \param vec vector 00057 */ 00058 WPosition OWCOMMON_EXPORT transformPosition3DWithMatrix4D( WMatrix<double> mat, WPosition vec ); 00059 00060 /** 00061 * helper routine to invert a 3x3 matrix 00062 * 00063 * \param mat 3x3 matrix 00064 * 00065 * \return inverted 3x3 matrix 00066 */ 00067 WMatrix<double> OWCOMMON_EXPORT invertMatrix3x3( WMatrix<double> mat ); 00068 00069 /** 00070 * helper routine to invert a 4x4 matrix 00071 * 00072 * \param mat 4x4 matrix 00073 * 00074 * \return inverted 4x4 matrix 00075 */ 00076 WMatrix<double> OWCOMMON_EXPORT invertMatrix4x4( WMatrix<double> mat ); 00077 00078 /** 00079 * Checks if the given two vectors are linearly independent. 00080 * 00081 * \param u First vector 00082 * \param v Second vector 00083 * 00084 * \return True if they are linear independent. 00085 * 00086 * \note This check is performed with the cross product != (0,0,0) but in numerical stability with FLT_EPS. 00087 */ 00088 bool OWCOMMON_EXPORT linearIndependent( const WVector3d& u, const WVector3d& v ); 00089 00090 /** 00091 * Computes the SVD for the Matrix \param A 00092 * 00093 * A=U*S*V^T 00094 * 00095 * \param A Input Matrix 00096 * \param U Output Matrix 00097 * \param S Output of the entries in the diagonal matrix 00098 * \param V Output Matrix 00099 * 00100 */ 00101 void OWCOMMON_EXPORT computeSVD( const WMatrix<double>& A, WMatrix<double>& U, WMatrix<double>& V, WValue<double>& S ); 00102 00103 /** 00104 * Calculates for a matrix the pseudo inverse. 00105 * 00106 * \param input Matrix to invert 00107 * 00108 * \return Inverted Matrix 00109 * 00110 */ 00111 WMatrix<double> OWCOMMON_EXPORT pseudoInverse( const WMatrix<double>& input ); 00112 00113 #endif // WLINEARALGEBRAFUNCTIONS_H