Physsim: /home/drumwrig/Physsim/include/Physsim/LinAlg.h Source File

00001 /****************************************************************************
00002  * Copyright 2005 Evan Drumwright
00003  * This library is distributed under the terms of the GNU General Public 
00004  * License (found in COPYING).
00005  ****************************************************************************/
00006 
00007 #ifndef _PHYSSIM_LINALG_H
00008 #define _PHYSSIM_LINALG_H
00009 
00010 #include <Physsim/Constants.h>
00011 #include <Physsim/Matrix3.h>
00012 #include <Physsim/VectorN.h>
00013 
00014 namespace Physsim {
00015 
00017 
00020 class LinAlg
00021 {
00022         public:
00023                 static Real cond(const MatrixN& x);
00024                 static MatrixN to_matrix(const std::string& s);
00025                 static VectorN to_vector(const std::string& s);
00026                 static VectorN solve(const MatrixNN& A, const VectorN& b);
00027                 static VectorN solve_symmetric(const MatrixNN& A, const VectorN& b);
00028                 static VectorN solve_PD(const MatrixNN& A, const VectorN& b);
00029                 static void solve_iterative(const MatrixNN& A, const VectorN& b, VectorN& x, unsigned iter);
00030                 static void svd(const MatrixN& A, MatrixN& U, VectorN& S, MatrixN& V);
00031                 static MatrixNN inverse(const MatrixNN& mat);
00032                 static MatrixNN inverse_symmetric(const MatrixNN& mat);
00033                 static MatrixNN inverse_PD(const MatrixNN& mat);
00034                 static MatrixN pseudo_inverse(const MatrixNN& A, Real tol=0);
00035                 static MatrixN pseudo_inverse(const MatrixN& A, Real tol=0);
00036                 static MatrixN right_pseudo_inverse(const MatrixN& A);
00037                 static MatrixN left_pseudo_inverse(const MatrixN& A);
00038                 static unsigned calc_rank(const MatrixN& x, Real tol=1e-10);
00039                 static Matrix3 rot_X(Real angle);
00040                 static Matrix3 rot_Y(Real angle);
00041                 static Matrix3 rot_Z(Real angle);
00042                 static void eig_symm(const MatrixNN& A, VectorN& evals);
00043                 static bool is_PSD(const MatrixNN& A, Real tolerance);
00044                 static bool is_PD(const MatrixNN& A, Real tolerance);
00045 }; // end class
00046 
00047 } // end namespace
00048 
00049 #endif