void FactorQTZRep<T>::solve( const Matrix_<T>& b, Matrix_<T>& x ) const {
SimTK_APIARGCHECK_ALWAYS(isFactored ,"FactorQTZ","solve",
"No matrix was passed to FactorQTZ. \n" );
SimTK_APIARGCHECK2_ALWAYS(b.nrow()==nRow,"FactorQTZ","solve",
"number of rows in right hand side=%d does not match number of rows in original matrix=%d \n",
b.nrow(), nRow );
x.resize(nCol, b.ncol() );
Matrix_<T> tb;
tb.resize(maxmn, b.ncol() );
for(int j=0;j<b.ncol();j++) for(int i=0;i<b.nrow();i++) tb(i,j) = b(i,j);
doSolve(tb, x);
}
void FactorQTZRep<T>::inverse( Matrix_<T>& inverse ) const {
Matrix_<T> iden(mn,mn);
inverse.resize(mn,mn);
iden = 1.0;
doSolve( iden, inverse );
return;
}