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// Copyright 2008 Nanorex, Inc. See LICENSE file for details.
#ifndef NX_MATRIX_H
#define NX_MATRIX_H
#include <Nanorex/Utility/NXVector.h>
namespace Nanorex {
/* CLASS: NXMatrix */
/**
* Column-major matrix of dimensions M x N
*
*/
template<typename T, int M, int N>
class NXMatrix {
public:
NXMatrix() throw() {}
~NXMatrix() throw() {}
T const *const data(void) const throw() { return elems; }
T *const data(void) throw() { return elems; }
/// Access value at m-th row, n-th column
T const& operator () (int const& m, int const& n) const throw();
/// Access value at m-th row, n-th column
T& operator () (int const& m, int const& n) throw();
/// Access n-th column
NXVectorRef<T,N> col(int const& n) throw();
template<typename T1>
NXMatrix<T,M,N>& operator += (NXMatrix<T1,M,N> const& A) throw();
template<typename T1>
NXMatrix<T,M,N>& operator -= (NXMatrix<T1,M,N> const& A) throw();
template<typename T1>
NXMatrix<T,M,N>& operator *= (T1 const& c) throw();
template<typename T1>
NXMatrix<T,M,N>& operator /= (T1 const& c) throw();
private:
T elems[M*N];
};
typedef NXMatrix<double,3,3> NXMatrix33d;
typedef NXMatrix<float,3,3> NXMatrix33f;
typedef NXMatrix<double,4,4> NXMatrix44d;
typedef NXMatrix<float,4,4> NXMatrix44f;
// Access value at m-th row, n-th column
template<typename T, int M, int N>
inline
T const& NXMatrix<T,M,N>::operator () (int const& m, int const& n) const throw()
{
return elems[n*M + m];
}
// Access value at m-th row, n-th column
template<typename T, int M, int N>
inline
T& NXMatrix<T,M,N>::operator () (int const& m, int const& n) throw()
{
return elems[n*M + m];
}
// Access n-th column
template<typename T, int M, int N>
inline
NXVectorRef<T,N> NXMatrix<T,M,N>::col(int const& n) throw()
{
return NXVectorRef<T,N>(elems + n*M);
}
template<typename T, int M, int N>
template<typename T1>
inline
NXMatrix<T,M,N>&
NXMatrix<T,M,N>::operator += (NXMatrix<T1,M,N> const& A) throw()
{
// Exploit isomorphism with M*N-dimensional vectors
NXVectorRef<T,M*N> selfRef(elems);
NXVectorRef<T1,M*N> ARef(A.data());
selfRef += ARef;
return *this;
}
template<typename T, int M, int N>
template<typename T1>
inline
NXMatrix<T,M,N>&
NXMatrix<T,M,N>::operator -= (NXMatrix<T1,M,N> const& A) throw()
{
// Exploit isomorphism with M*N-dimensional vectors
NXVectorRef<T,M*N> selfRef(elems);
NXVectorRef<T1,M*N> ARef(A.data());
selfRef -= ARef;
return *this;
}
template<typename T, int M, int N>
template<typename T1>
inline
NXMatrix<T,M,N>& NXMatrix<T,M,N>::operator *= (T1 const& c) throw()
{
// Exploit isomorphism with M*N-dimensional vectors
NXVectorRef<T,M*N> selfRef(elems);
selfRef *= c;
return *this;
}
template<typename T, int M, int N>
template<typename T1>
inline
NXMatrix<T,M,N>& NXMatrix<T,M,N>::operator /= (T1 const& c) throw()
{
// Exploit isomorphism with M*N-dimensional vectors
NXVectorRef<T,M*N> selfRef(elems);
T const one_by_c = T(1) / c;
selfRef *= one_by_c;
return *this;
}
/// Matrix-matrix multiplication (inefficient)
template<typename T, int M, int N, int K>
NXMatrix<T,M,N> operator * (NXMatrix<T,M,K> const& A,
NXMatrix<T,K,N> const& B)
{
NXMatrix<T,M,N> C; // result
for(int m=0; m<M; ++m) {
for(int n=0; n<N; ++n) {
T sum_mn(0);
for(int k=0; k<K; ++k) {
sum_mn += A(m,k) * B(k,n);
}
C(m,n) = sum_mn;
}
}
}
/// Matrix-vector multiplication (inefficient)
template<typename T, int M, int N>
NXVector<T,M> operator * (NXMatrix<T,M,N> const& A,
NXVector<T,N> const& x)
{
NXVector<T,M> y; // result
y.zero();
for(int n=0; n<N; ++n) {
for(int m=0; m<M; ++m) {
y[m] += A(m,n) * x[n];
}
}
}
} // namespace Nanorex
#endif // NX_MATRIX_H
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