GaussAlgorithm::GaussAlgorithm (Matrix <double> &A) :
_mat (A), _n(_mat.getNRows()), _perm (new size_t [_n])
{
size_t k, i, j, nr (_mat.getNRows()), nc(_mat.getNCols());
double l;
for (k = 0; k < nc; k++)
{
// search pivot
double t = fabs(_mat(k, k));
_perm[k] = k;
for (i = k + 1; i < nr; i++)
if (std::abs(_mat(i,k)) > t)
{
t = std::abs(_mat(i,k));
_perm[k] = i;
}
// exchange rows
if (_perm[k] != k)
for (j = 0; j < nc; j++)
BASELIB::swap (_mat(_perm[k],j), _mat(k,j));
// eliminate
for (i = k + 1; i < nr; i++)
{
l = _mat(i,k) / _mat(k,k);
for (j = k; j < nc; j++)
_mat(i,j) -= _mat(k,j) * l;
_mat(i,k) = l;
}
}
}
void MainWindow::_slot_model_data_changed(const QModelIndex& idx1,
const QModelIndex& idx2)
{
if ( idx1.row() > 1 ) {
return ;
}
QString seq1 = _model->data(_idx_seq1).toString();
QString seq2 = _model->data(_idx_seq2).toString();
QString seq3 = _model->data(_idx_seq3).toString();
QVector3D axis1 = _euler_convention.to_axis(seq1);
QVector3D axis2 = _euler_convention.to_axis(seq2);
QVector3D axis3 = _euler_convention.to_axis(seq3);
qreal ang1 = _model->data(_idx_ang1).toDouble();
qreal ang2 = _model->data(_idx_ang2).toDouble();
qreal ang3 = _model->data(_idx_ang3).toDouble();
_mat.setToIdentity();
_mat.rotate(ang1,axis1);
_mat.rotate(ang2,axis2);
_mat.rotate(ang3,axis3);
for ( int ii = 0 ; ii < 3 ; ii++ ) {
for ( int jj = 0 ; jj < 3 ; jj++ ) {
QModelIndex idx = _model->index(ii+2,jj);
qreal val = _mat(ii,jj);
_model->setData(idx,val);
}
}
_update_scene_matrix(_mat);
}
//Tab2dView block( UInt i, UInt j )
matrix_view block( UInt i, UInt j )
{
return _mat( SubArray( _nRow[ i ], _firstRow[ i ] ),
SubArray( _nCol[ j ], _firstCol[ j ] ) );
//Tab2dView __mr (_mat, TabRange(_firstRow[i], _nRow[i]), TabRange(_firstCol[j], _nCol[j]));
//return __mr;
}
//------------------------------------------------------------------------------
//!
bool
TQuad::performGet( VMState* vm )
{
switch( _attributes[ VM::toCString( vm, 2 ) ] )
{
case ATTRIB_COLOR:
VM::push( vm, _color );
return true;
case ATTRIB_IMAGE:
/// @todo - We need to finish this case.
return true;
case ATTRIB_TYPE:
VM::push( vm, _type );
return true;
case ATTRIB_U:
VM::push( vm, _u );
return true;
case ATTRIB_V:
VM::push( vm, _v );
return true;
case ATTRIB_POSITION:
{
Vec2f pos( _mat(12), _mat(13) );
VM::push( vm, pos );
}
return true;
case ATTRIB_SIZE:
VM::push( vm, _size );
return true;
case ATTRIB_IMAGESIZE:
VM::push( vm, Vec2i( _img->texture()->definedWidth(), _img->texture()->definedHeight() ) );
return true;
default:
break;
}
return Drawable::performGet( vm );
}
const_reference operator()(const index_type &index) const {
auto index_down = index << 1;
return _mat(index_down);
}
//------------------------------------------------------------------------------
//!
Vec2f
TQuad::position() const
{
return Vec2f( _mat(0), _mat(1) );
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
_axis_len(97),_inertial_len(150)
{
ui->setupUi(this);
// Model
_model = new QStandardItemModel(5,3,parent);
_idx_seq1 = _model->index(0,0);
_idx_seq2 = _model->index(0,1);
_idx_seq3 = _model->index(0,2);
_idx_ang1 = _model->index(1,0);
_idx_ang2 = _model->index(1,1);
_idx_ang3 = _model->index(1,2);
_model->setData(_idx_seq1,QString("Roll"));
_model->setData(_idx_seq2,QString("Pitch"));
_model->setData(_idx_seq3,QString("Yaw"));
_model->setHeaderData(0,
Qt::Horizontal,
_model->data(_idx_seq1).toString());
_model->setHeaderData(1,
Qt::Horizontal,
_model->data(_idx_seq2).toString());
_model->setHeaderData(2,
Qt::Horizontal,
_model->data(_idx_seq3).toString());
_model->setData(_idx_ang1,0.0);
_model->setData(_idx_ang2,0.0);
_model->setData(_idx_ang3,0.0);
for ( int ii = 0 ; ii < 3 ; ii++ ) {
for ( int jj = 0 ; jj < 3 ; jj++ ) {
QModelIndex idx = _model->index(ii+2,jj);
qreal val = _mat(ii,jj);
_model->setData(idx,val);
}
}
// Minimum size policy ( i don't care about growing)
QSizePolicy size_policy_min(QSizePolicy::Minimum, QSizePolicy::Minimum);
QSizePolicy size_policy_fixed(QSizePolicy::Fixed,
QSizePolicy::Fixed);
// Sequence view
_sequenceview = new QTableView(parent);
_sequenceview->setModel(_model);
_sequenceview->verticalHeader()->setVisible(false);
_sequenceview->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
_sequenceview->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
_sequenceview->horizontalHeader()->setMovable(true);
for ( int ii = 0 ; ii < 6; ii++ ) {
_sequenceview->setRowHidden(ii,true);
}
_sequenceview->setRowHidden(1,false);
// Matrix view
_matrixview = new QTableView(parent);
_matrixview->setModel(_model);
_matrixview->horizontalHeader()->setVisible(false);
_matrixview->verticalHeader()->setVisible(false);
_matrixview->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
_matrixview->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
_matrixview->setRowHidden(0,true);
_matrixview->setRowHidden(1,true);
// Scene view
_scene = new QGraphicsScene(parent);
_scene->setBackgroundBrush(QBrush(Qt::white));
_gview = new QGraphicsView(_scene);
_gview->setRenderHint(QPainter::Antialiasing);
_gview->horizontalScrollBar()->setVisible(false);
_gview->verticalScrollBar()->setVisible(false);
_gview->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
_xinertial = new QGraphicsLineItem(QLine(QPoint(0,0),
QPoint(_inertial_len,0)));
_scene->addItem(_xinertial);
QGraphicsSimpleTextItem* xlabel = new
QGraphicsSimpleTextItem(QString("x"));
_scene->addItem(xlabel);
QRectF bb = xlabel->boundingRect();
xlabel->setPos(_inertial_len+10,-bb.height()/2.0);
_yinertial = new QGraphicsLineItem(QLine(QPoint(0,0),
QPoint(0,-_inertial_len)));
_scene->addItem(_yinertial);
QGraphicsSimpleTextItem* ylabel = new QGraphicsSimpleTextItem(QString("y"));
_scene->addItem(ylabel);
bb = ylabel->boundingRect();
ylabel->setPos(-bb.width()/2.0,-_inertial_len-10-bb.height()/2.0 );
_xitem = new QGraphicsLineItem(QLine(QPoint(0,0),QPoint(_axis_len,0)));
QPen xpen(Qt::red);
xpen.setWidth(6);
_xitem->setPen(xpen);
_yitem = new QGraphicsLineItem(QLine(QPoint(0,0),QPoint(0,-_axis_len)));
QPen ypen(Qt::green);
ypen.setWidth(6);
_yitem->setPen(ypen);
_zitem = new QGraphicsLineItem(QLine(QPoint(0,0),QPoint(0,0)));
QPen zpen(Qt::blue);
zpen.setWidth(6);
_zitem->setPen(zpen);
QGraphicsEllipseItem* ell = new QGraphicsEllipseItem(
-100,-100,200,200);
_scene->addItem(_xitem);
_scene->addItem(_yitem);
_scene->addItem(_zitem);
_scene->addItem(ell);
QPointF center = _scene->itemsBoundingRect().center();
_gview->centerOn(center);
// Connect
connect(_model,SIGNAL(dataChanged(QModelIndex,QModelIndex)),
this,SLOT(_slot_model_data_changed(QModelIndex,QModelIndex)));
//
// Widget Layout
//
QWidget *mainwidget = new QWidget;
setCentralWidget(mainwidget);
setWindowTitle(tr("Euler"));
setUnifiedTitleAndToolBarOnMac(true);
QHBoxLayout *mainlayout = new QHBoxLayout;
QVBoxLayout *leftbox = new QVBoxLayout;
leftbox->addWidget(_sequenceview);
leftbox->addWidget(_matrixview);
mainlayout->addLayout(leftbox);
mainlayout->addWidget(_gview);
mainwidget->setLayout(mainlayout);
}
value_type const& operator () (uindex r, uindex c) const
{
return _mat(r, c);
}
value_type& operator () (uindex r, uindex c)
{
return _mat(r, c);
}
void set_scale(value_type _p)
{
_mat(3, 3) *= 1 / _p;
}