/*!
* \brief OiMat::operator *
* Multiply v by this matrix
* \param v
* \return
*/
OiVec OiMat::operator*(const OiVec &v) const{
if( this->getColCount() == v.getSize() && v.getSize() > 0 ){
OiVec result(this->getRowCount());
OiVec::myLinearAlgebra->multiply(result, *this, v);
return result;
}else{
throw logic_error("Cannot multiply a vector by a matrix with incompatible size");
return OiVec();
}
}
/*!
* \brief OiMat::getRotationMatrix
* Get the rotation matrix corresponding to a rotation around an arbitrary rotation axis by the given amount
* \param angle
* \param axis
* \return
*/
OiMat OiMat::getRotationMatrix(double angle, OiVec axis){
if(axis.getSize() == 3){
OiMat result(3, 3);
axis = axis.normalize();
double w = qCos(angle / 2.0);
OiVec x = qSin(angle / 2.0) * axis;
result.setAt(0, 0, 1.0 - 2.0 * (x.getAt(1)*x.getAt(1) + x.getAt(2)*x.getAt(2)));
result.setAt(0, 1, 2.0 * (x.getAt(0)*x.getAt(1) - w * x.getAt(2)));
result.setAt(0, 2, 2.0 * (x.getAt(0)*x.getAt(2) + w * x.getAt(1)));
result.setAt(1, 0, 2.0 * (x.getAt(0)*x.getAt(1) + w * x.getAt(2)));
result.setAt(1, 1, 1.0 - 2.0 * (x.getAt(0)*x.getAt(0) + x.getAt(2)*x.getAt(2)));
result.setAt(1, 2, 2.0 * (x.getAt(1)*x.getAt(2) - w * x.getAt(0)));
result.setAt(2, 0, 2.0 * (x.getAt(0)*x.getAt(2) - w * x.getAt(1)));
result.setAt(2, 1, 2.0 * (x.getAt(1)*x.getAt(2) + w * x.getAt(0)));
result.setAt(2, 2, 1.0 - 2.0 * (x.getAt(0)*x.getAt(0) + x.getAt(1)*x.getAt(1)));
return result;
}else{
throw logic_error("To set up the rotation matrix the given axis has to be of size 3");
return OiMat();
}
}
/*!
* \brief LAArmadillo::multiply
* Multiply v by s
* \param result
* \param s
* \param v
*/
void LAArmadillo::multiply(OiVec &result, const double &s, const OiVec &v){
arma::vec va(v.getSize());
this->oiVec2Arma(va, v);
this->arma2OiVec(result, (s * va));
}
/*!
* \brief OiMat::setCol
* Replace the column at index by the given column
* \param index
* \param col
*/
void OiMat::setCol(const int index, const OiVec &col){
if(this->getColCount() > index){ //if there is a column at index
if(this->getRowCount() == col.getSize()){ //if the given column has the right number of elements
for(unsigned int i = 0; i < col.getSize(); i++){
this->values.at(i).at(index) = col.getAt(i);
}
}else{
throw logic_error("Cannot replace a column of a matrix by a given column with incompatible size");
}
}else{
throw logic_error("Cannot replace a column of a matrix by a given column because of an invalid index");
}
}
/*!
* \brief LAArmadillo::substract
* Substract v2 from v1
* \param result
* \param v1
* \param v2
*/
void LAArmadillo::substract(OiVec &result, const OiVec &v1, const OiVec &v2){
int vecSize = v1.getSize();
arma::vec v1a(vecSize), v2a(vecSize);
this->oiVec2Arma(v1a, v1);
this->oiVec2Arma(v2a, v2);
this->arma2OiVec(result, (v1a - v2a));
}
/*!
* \brief LAArmadillo::dot
* Calculate scalar product of a and b
* \param result
* \param a
* \param b
*/
void LAArmadillo::dot(double &result, const OiVec &a, const OiVec &b){
int vecSize = b.getSize();
arma::vec aa(vecSize), ba(vecSize);
this->oiVec2Arma(aa, a);
this->oiVec2Arma(ba, b);
result = arma::dot(aa, ba);
}
/*!
* \brief LAArmadillo::cross
* Calculate cross product of a and b
* \param result
* \param a
* \param b
*/
void LAArmadillo::cross(OiVec &result, const OiVec &a, const OiVec &b){
int vecSize = b.getSize();
arma::vec aa(vecSize), ba(vecSize);
this->oiVec2Arma(aa, a);
this->oiVec2Arma(ba, b);
this->arma2OiVec(result, arma::cross(aa, ba));
}
/*!
* \brief LAArmadillo::multiply
* Multiply v by m
* \param result
* \param m
* \param v
*/
void LAArmadillo::multiply(OiVec &result, const OiMat &m, const OiVec &v){
int vecSize = v.getSize();
arma::vec va(vecSize);
arma::mat ma(m.getRowCount(), vecSize);
this->oiVec2Arma(va, v);
this->oiMat2Arma(ma, m);
this->arma2OiVec(result, (ma * va));
}
/*!
* \brief OiMat::setRow
* Replace the row at index by the given row
* \param index
* \param row
*/
void OiMat::setRow(const int index, const OiVec &row){
if(this->getRowCount() > index){ //if there is a row at index
if(this->getColCount() == row.getSize()){ //if the given row has the right number of elements
//fill vector with the given values...
vector<double> rowVec;
for(unsigned int i = 0; i < row.getSize(); i++){
rowVec.push_back(row.getAt(i));
}
//...and replace the row of the matrix at index
this->values.at(index) = rowVec;
}else{
throw logic_error("Cannot replace a row of a matrix by a given row with incompatible size");
}
}else{
throw logic_error("Cannot replace a row of a matrix by a given row because of an invalid index");
}
}
/*!
* \brief LAArmadillo::oiVec2Arma
* \param result
* \param v
*/
void LAArmadillo::oiVec2Arma(arma::vec &result, const OiVec &v){
for(int i = 0; i < v.getSize(); i++){
result[i] = v.getAt(i);
}
}
