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please POEMS library in namespace POEMS and remove "using namespace" from headers

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This commit is contained in:
Axel Kohlmeyer
2019-07-04 00:09:01 -04:00
parent 95cb995336
commit e63fe1fe84
85 changed files with 1361 additions and 1270 deletions
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11
lib/poems/POEMSChain.h
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@ -19,7 +19,9 @@
#define POEMSCHAIN_H_ #define POEMSCHAIN_H_
#include "poemslist.h" #include "poemslist.h"
#include <iostream>
namespace POEMS {
struct ChildRingData { struct ChildRingData {
List<int> * childRing; List<int> * childRing;
int entranceNodeId; int entranceNodeId;
@ -44,14 +46,14 @@ struct POEMSChain{
void printTreeStructure(int tabs){ void printTreeStructure(int tabs){
for(int i = 0; i < tabs; i++) for(int i = 0; i < tabs; i++)
{ {
cout << "\t"; std::cout << "\t";
} }
cout << "Chain: "; std::cout << "Chain: ";
for(int i = 0; i < listOfNodes.GetNumElements(); i++) for(int i = 0; i < listOfNodes.GetNumElements(); i++)
{ {
cout << *(listOfNodes(i)) << " "; std::cout << *(listOfNodes(i)) << " ";
} }
cout << endl; std::cout << std::endl;
for(int i = 0; i < childChains.GetNumElements(); i++) for(int i = 0; i < childChains.GetNumElements(); i++)
{ {
childChains(i)->printTreeStructure(tabs + 1); childChains(i)->printTreeStructure(tabs + 1);
@ -71,4 +73,5 @@ struct POEMSChain{
} }
} }
}; };
}
#endif #endif

13
lib/poems/SystemProcessor.h
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@ -17,10 +17,12 @@
#ifndef _SYS_PROCESSOR_H_ #ifndef _SYS_PROCESSOR_H_
#define _SYS_PROCESSOR_H_ #define _SYS_PROCESSOR_H_
#include <iostream>
#include "poemslist.h" #include "poemslist.h"
#include "poemstree.h" #include "poemstree.h"
#include "POEMSChain.h" #include "POEMSChain.h"
namespace POEMS {
struct POEMSNode { struct POEMSNode {
List<POEMSNode> links; List<POEMSNode> links;
@ -141,7 +143,7 @@ POEMSChain * SystemProcessor::AddNewChain(POEMSNode * currentNode){
tmp = new int; tmp = new int;
*tmp = currentNode->idNumber; *tmp = currentNode->idNumber;
newChain->listOfNodes.Append(tmp); //append the current node to the chain & mark as visited newChain->listOfNodes.Append(tmp); //append the current node to the chain & mark as visited
//cout << "Appending node " << currentNode->idNumber << " to chain" << endl; //std::cout << "Appending node " << currentNode->idNumber << " to chain" << std::endl;
nextNode = currentNode->links.GetHeadElement()->value; //the next node is the first or second value stored in the links array nextNode = currentNode->links.GetHeadElement()->value; //the next node is the first or second value stored in the links array
//of the current node. We get the first value... //of the current node. We get the first value...
if(!setLinkVisited(currentNode, nextNode)) //...and see if it points back to where we came from. If it does... if(!setLinkVisited(currentNode, nextNode)) //...and see if it points back to where we came from. If it does...
@ -223,7 +225,7 @@ bool SystemProcessor::setLinkVisited(POEMSNode * firstNode, POEMSNode * secondNo
//value for that particular link. Because each link is represented twice, (once at each node in the link), both of the boolean values need //value for that particular link. Because each link is represented twice, (once at each node in the link), both of the boolean values need
//to be set in the event that the link has to be set as visited. //to be set in the event that the link has to be set as visited.
{ {
//cout << "Checking link between nodes " << firstNode->idNumber << " and " << secondNode->idNumber << "... "; //std::cout << "Checking link between nodes " << firstNode->idNumber << " and " << secondNode->idNumber << "... ";
ListElement<POEMSNode> * tmp = firstNode->links.GetHeadElement(); //get the head element of the list of pointers for node 1 ListElement<POEMSNode> * tmp = firstNode->links.GetHeadElement(); //get the head element of the list of pointers for node 1
ListElement<bool> * tmp2 = firstNode->taken.GetHeadElement(); //get the head element of the list of bool isVisited flags for node 1 ListElement<bool> * tmp2 = firstNode->taken.GetHeadElement(); //get the head element of the list of bool isVisited flags for node 1
while(tmp->value != NULL || tmp2->value != NULL) //go through untill we reach the end of the lists while(tmp->value != NULL || tmp2->value != NULL) //go through untill we reach the end of the lists
@ -232,7 +234,7 @@ bool SystemProcessor::setLinkVisited(POEMSNode * firstNode, POEMSNode * secondNo
{ {
if(*(tmp2->value) == true) //if the link has already been visited if(*(tmp2->value) == true) //if the link has already been visited
{ {
//cout << "visited already" << endl; //std::cout << "visited already" << std::endl;
return false; //return false to indicate that the link has been visited before this attempt return false; //return false to indicate that the link has been visited before this attempt
} }
else //otherwise, visit it else //otherwise, visit it
@ -254,7 +256,7 @@ bool SystemProcessor::setLinkVisited(POEMSNode * firstNode, POEMSNode * secondNo
{ {
if(*(tmp2->value) == true) //and it has already been visited, then signal an error; this shouldnt ever happen if(*(tmp2->value) == true) //and it has already been visited, then signal an error; this shouldnt ever happen
{ {
cout << "Error in parsing structure! Should never reach this condition! \n" << std::cout << "Error in parsing structure! Should never reach this condition! \n" <<
"Record of visited links out of synch between two adjacent nodes.\n"; "Record of visited links out of synch between two adjacent nodes.\n";
return false; return false;
} }
@ -267,7 +269,7 @@ bool SystemProcessor::setLinkVisited(POEMSNode * firstNode, POEMSNode * secondNo
tmp = tmp->next; tmp = tmp->next;
tmp2 = tmp2->next; tmp2 = tmp2->next;
} }
//cout << "not visited" << endl; //std::cout << "not visited" << std::endl;
return true; //return true to indicate that this is the first time the link has been visited return true; //return true to indicate that this is the first time the link has been visited
} }
@ -284,4 +286,5 @@ int SystemProcessor::getNumberOfHeadChains(void) //This function isnt implemente
{ {
return 0; return 0;
} }
}
#endif #endif

5
lib/poems/body.cpp
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@ -26,9 +26,8 @@
#include "rigidbody.h" #include "rigidbody.h"
#include "vect3.h" #include "vect3.h"
class Joint;
using namespace std; using namespace std;
using namespace POEMS;
Body::Body() Body::Body()
{ {
@ -132,7 +131,7 @@ void Body::AddPoint(Point* point){
// global body functions // global body functions
// //
Body* NewBody(int type){ Body* POEMS::NewBody(int type){
switch( BodyType(type) ) switch( BodyType(type) )
{ {
case INERTIALFRAME : // The inertial reference frame case INERTIALFRAME : // The inertial reference frame

3
lib/poems/body.h
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@ -25,6 +25,7 @@
#include "mat3x3.h" #include "mat3x3.h"
#include "vect3.h" #include "vect3.h"
namespace POEMS {
// emumerated type // emumerated type
enum BodyType { enum BodyType {
INERTIALFRAME = 0, INERTIALFRAME = 0,
@ -75,5 +76,5 @@ public:
// global body functions // global body functions
Body* NewBody(int type); Body* NewBody(int type);
}
#endif #endif

3
lib/poems/body23joint.cpp
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@ -27,6 +27,9 @@
#include "vect3.h" #include "vect3.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace std;
using namespace POEMS;
Body23Joint::Body23Joint(){ Body23Joint::Body23Joint(){
DimQandU(4,2); DimQandU(4,2);
} }

3
lib/poems/body23joint.h
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@ -22,6 +22,7 @@
#include "joint.h" #include "joint.h"
#include "matrix.h" #include "matrix.h"
namespace POEMS {
class Body23Joint : public Joint { class Body23Joint : public Joint {
Matrix const_sP; Matrix const_sP;
public: public:
@ -38,5 +39,5 @@ public:
void ForwardKinematics(); void ForwardKinematics();
void BackwardKinematics(); void BackwardKinematics();
}; };
}
#endif #endif

2
lib/poems/colmatmap.cpp
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@ -21,6 +21,8 @@
#include <cstdlib> #include <cstdlib>
using namespace std; using namespace std;
using namespace POEMS;
ColMatMap::ColMatMap(){ ColMatMap::ColMatMap(){
numrows = 0; numrows = 0;

3
lib/poems/colmatmap.h
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@ -24,6 +24,7 @@
#include "virtualcolmatrix.h" #include "virtualcolmatrix.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class ColMatrix; class ColMatrix;
class ColMatMap : public VirtualColMatrix { class ColMatMap : public VirtualColMatrix {
@ -64,5 +65,5 @@ public:
friend void FastCKRK5(ColMatMap& X, ColMatrix& Xi, ColMatrix* f, double* c, double dt); friend void FastCKRK5(ColMatMap& X, ColMatrix& Xi, ColMatrix* f, double* c, double dt);
friend void FastFRK5(ColMatMap& X, ColMatrix& Xi, ColMatrix* f, double* c, double dt); friend void FastFRK5(ColMatMap& X, ColMatrix& Xi, ColMatrix* f, double* c, double dt);
}; };
}
#endif #endif

2
lib/poems/colmatrix.cpp
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@ -21,6 +21,8 @@
#include <cstdlib> #include <cstdlib>
using namespace std; using namespace std;
using namespace POEMS;
ColMatrix::ColMatrix(){ ColMatrix::ColMatrix(){
numrows = 0; numrows = 0;

4
lib/poems/colmatrix.h
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@ -23,12 +23,14 @@
#include "virtualcolmatrix.h" #include "virtualcolmatrix.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class Matrix; class Matrix;
class Vect6; class Vect6;
class Mat3x3; class Mat3x3;
class Vect3; class Vect3;
class ColMatrix : public VirtualColMatrix { class ColMatrix : public VirtualColMatrix {
protected:
double* elements; double* elements;
public: public:
ColMatrix(); ColMatrix();
@ -81,5 +83,5 @@ public:
friend void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq,ColMatrix& Aqddot); friend void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq,ColMatrix& Aqddot);
friend void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot); friend void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot);
}; };
}
#endif #endif

7
lib/poems/defines.h
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@ -15,13 +15,14 @@
* CONTACT: anderk5@rpi.edu * * CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/ *_________________________________________________________________________*/
#ifndef _DEFINES_H_ #ifndef POEMS_DEFINES_H
#define _DEFINES_H_ #define POEMS_DEFINES_H
namespace POEMS {
enum SolverType { enum SolverType {
ONSOLVER = 0, ONSOLVER = 0,
PARTICLESOLVER = 1 PARTICLESOLVER = 1
}; };
}
#endif #endif

14
lib/poems/eulerparameters.cpp
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@ -23,8 +23,10 @@
#include "mat3x3.h" #include "mat3x3.h"
using namespace std; using namespace std;
using namespace POEMS;
void EP_Derivatives(ColMatrix& q, ColMatrix& u, ColMatrix& qdot){
void POEMS::EP_Derivatives(ColMatrix& q, ColMatrix& u, ColMatrix& qdot){
EP_Normalize(q); EP_Normalize(q);
int num=u.GetNumRows(); int num=u.GetNumRows();
if (3<num){ if (3<num){
@ -40,7 +42,7 @@ void EP_Derivatives(ColMatrix& q, ColMatrix& u, ColMatrix& qdot){
} }
void EP_Transformation(ColMatrix& q, Mat3x3& C){ void POEMS::EP_Transformation(ColMatrix& q, Mat3x3& C){
EP_Normalize(q); EP_Normalize(q);
double q11 = q.elements[0]*q.elements[0]; double q11 = q.elements[0]*q.elements[0];
@ -69,7 +71,7 @@ void EP_Transformation(ColMatrix& q, Mat3x3& C){
C.elements[2][1] = 2*(q23 + q14); C.elements[2][1] = 2*(q23 + q14);
} }
void EP_FromTransformation(ColMatrix& q, Mat3x3& C){ void POEMS::EP_FromTransformation(ColMatrix& q, Mat3x3& C){
double b[4]; double b[4];
// condition indicators // condition indicators
@ -117,7 +119,7 @@ void EP_FromTransformation(ColMatrix& q, Mat3x3& C){
EP_Normalize(q); EP_Normalize(q);
} }
void EP_Normalize(ColMatrix& q){ void POEMS:: EP_Normalize(ColMatrix& q){
double one = 1.0/sqrt(q.elements[0]*q.elements[0] + q.elements[1]*q.elements[1] + q.elements[2]*q.elements[2] + q.elements[3]*q.elements[3]); double one = 1.0/sqrt(q.elements[0]*q.elements[0] + q.elements[1]*q.elements[1] + q.elements[2]*q.elements[2] + q.elements[3]*q.elements[3]);
q.elements[0] = one*q.elements[0]; q.elements[0] = one*q.elements[0];
q.elements[1] = one*q.elements[1]; q.elements[1] = one*q.elements[1];
@ -128,7 +130,7 @@ void EP_Normalize(ColMatrix& q){
void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq, ColMatrix& Aqddot){ void POEMS::EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq, ColMatrix& Aqddot){
int num=Audot.GetNumRows(); int num=Audot.GetNumRows();
if (3<num){ if (3<num){
for (int i=4; i<=num; i++){ for (int i=4; i<=num; i++){
@ -150,7 +152,7 @@ void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq, ColMatrix&
} }
void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot){ void POEMS::qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot){
EP_Normalize(q); EP_Normalize(q);
int num=qdot.GetNumRows(); int num=qdot.GetNumRows();
if (4<num){ if (4<num){

3
lib/poems/eulerparameters.h
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@ -18,6 +18,7 @@
#ifndef EULERPARAMETERS_H #ifndef EULERPARAMETERS_H
#define EULERPARAMETERS_H #define EULERPARAMETERS_H
namespace POEMS {
class ColMatrix; class ColMatrix;
class Mat3x3; class Mat3x3;
@ -32,6 +33,6 @@ void EP_Normalize(ColMatrix& q);
void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq,ColMatrix& Aqddot); void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq,ColMatrix& Aqddot);
void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot); void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot);
}
#endif #endif

130
lib/poems/fastmatrixops.cpp
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@ -29,12 +29,14 @@
#include "vect6.h" #include "vect6.h"
using namespace std; using namespace std;
using namespace POEMS;
// //
// Cross Product (friend of Vect3) // Cross Product (friend of Vect3)
// //
void FastCross(Vect3& a, Vect3& b, Vect3& c){ void POEMS::FastCross(Vect3& a, Vect3& b, Vect3& c){
c.elements[0] = a.elements[1]*b.elements[2] - a.elements[2]*b.elements[1]; c.elements[0] = a.elements[1]*b.elements[2] - a.elements[2]*b.elements[1];
c.elements[1] = a.elements[2]*b.elements[0] - a.elements[0]*b.elements[2]; c.elements[1] = a.elements[2]*b.elements[0] - a.elements[0]*b.elements[2];
c.elements[2] = a.elements[0]*b.elements[1] - a.elements[1]*b.elements[0]; c.elements[2] = a.elements[0]*b.elements[1] - a.elements[1]*b.elements[0];
@ -44,7 +46,7 @@ void FastCross(Vect3& a, Vect3& b, Vect3& c){
// Simple Rotation (friend of Vect3 and Mat3x3) // Simple Rotation (friend of Vect3 and Mat3x3)
// //
void FastSimpleRotation(Vect3& v, double q, Mat3x3& C){ void POEMS::FastSimpleRotation(Vect3& v, double q, Mat3x3& C){
// intermediate quantities // intermediate quantities
double cq = cos(q); double cq = cos(q);
double sq = sin(q); double sq = sin(q);
@ -69,7 +71,7 @@ void FastSimpleRotation(Vect3& v, double q, Mat3x3& C){
// Quaternion Functions // Quaternion Functions
// //
void FastQuaternions(ColMatrix& q, Mat3x3& C){ void POEMS::FastQuaternions(ColMatrix& q, Mat3x3& C){
double* e = q.elements; double* e = q.elements;
// normalize the quaternions // normalize the quaternions
@ -94,7 +96,7 @@ void FastQuaternions(ColMatrix& q, Mat3x3& C){
C.elements[2][1] = 2 * (e[2]*e[3] + e[0]*e[1]); C.elements[2][1] = 2 * (e[2]*e[3] + e[0]*e[1]);
} }
void FastQuaternionDerivatives(ColMatrix& q, ColMatrix& omega, ColMatrix& qdot){ void POEMS::FastQuaternionDerivatives(ColMatrix& q, ColMatrix& omega, ColMatrix& qdot){
double* w = omega.elements; double* w = omega.elements;
double* e = q.elements; double* e = q.elements;
@ -104,7 +106,7 @@ void FastQuaternionDerivatives(ColMatrix& q, ColMatrix& omega, ColMatrix& qdot){
qdot.elements[3] = 0.5 * ( w[2]*e[0] + w[1]*e[1] - w[0]*e[2]); qdot.elements[3] = 0.5 * ( w[2]*e[0] + w[1]*e[1] - w[0]*e[2]);
} }
void FastInvQuaternions(Mat3x3& C, ColMatrix& q){ void POEMS::FastInvQuaternions(Mat3x3& C, ColMatrix& q){
} }
// //
@ -121,7 +123,7 @@ void FastInvQuaternions(Mat3x3& C, ColMatrix& q){
// //
// friend of Matrix // friend of Matrix
void FastLDLT(Matrix& A, Matrix& C){ // C is the LD of the LDL^T decomposition of A (SPD) void POEMS::FastLDLT(Matrix& A, Matrix& C){ // C is the LD of the LDL^T decomposition of A (SPD)
double Lv; double Lv;
int n = A.numrows; int n = A.numrows;
@ -143,7 +145,7 @@ void FastLDLT(Matrix& A, Matrix& C){ // C is the LD of the LDL^T decomposition o
// friend of Mat6x6 // friend of Mat6x6
void FastLDLT(Mat6x6& A, Mat6x6& C){ // C is the LD of the LDL^T decomposition of A (SPD) void POEMS::FastLDLT(Mat6x6& A, Mat6x6& C){ // C is the LD of the LDL^T decomposition of A (SPD)
double v[6]; double v[6];
double Lv; double Lv;
@ -165,7 +167,7 @@ void FastLDLT(Mat6x6& A, Mat6x6& C){ // C is the LD of the LDL^T decomposition o
} }
// friend of Matrix // friend of Matrix
void FastLDLTSubs(Matrix& LD, Matrix& B, Matrix& C){ void POEMS::FastLDLTSubs(Matrix& LD, Matrix& B, Matrix& C){
int n = B.numrows; int n = B.numrows;
int c = B.numcols; int c = B.numcols;
double temp; double temp;
@ -190,7 +192,7 @@ void FastLDLTSubs(Matrix& LD, Matrix& B, Matrix& C){
} }
// friend of Matrix // friend of Matrix
void FastLDLTSubsLH(Matrix& B, Matrix& LD, Matrix& C){ void POEMS::FastLDLTSubsLH(Matrix& B, Matrix& LD, Matrix& C){
int n = B.numcols; int n = B.numcols;
int c = B.numrows; int c = B.numrows;
double temp; double temp;
@ -215,7 +217,7 @@ void FastLDLTSubsLH(Matrix& B, Matrix& LD, Matrix& C){
} }
// friend of Mat6x6 // friend of Mat6x6
void FastLDLTSubs(Mat6x6& LD, Mat6x6& B, Mat6x6& C){ void POEMS::FastLDLTSubs(Mat6x6& LD, Mat6x6& B, Mat6x6& C){
double temp; double temp;
for(int k=0;k<6;k++){ for(int k=0;k<6;k++){
@ -238,7 +240,7 @@ void FastLDLTSubs(Mat6x6& LD, Mat6x6& B, Mat6x6& C){
} }
// friend of Mat6x6 & Vect6 // friend of Mat6x6 & Vect6
void FastLDLTSubs(Mat6x6& LD, Vect6& B, Vect6& C){ void POEMS::FastLDLTSubs(Mat6x6& LD, Vect6& B, Vect6& C){
double temp; double temp;
for(int i=0;i<6;i++){ for(int i=0;i<6;i++){
@ -259,7 +261,7 @@ void FastLDLTSubs(Mat6x6& LD, Vect6& B, Vect6& C){
} }
// friend of Matrix // friend of Matrix
void FastLU(Matrix& A, Matrix& LU, int *indx){ // LU is the LU decomposition of A void POEMS::FastLU(Matrix& A, Matrix& LU, int *indx){ // LU is the LU decomposition of A
int i,imax=0,j,k; int i,imax=0,j,k;
int n = A.numrows; int n = A.numrows;
double big, dum, sum, temp; double big, dum, sum, temp;
@ -309,7 +311,7 @@ void FastLU(Matrix& A, Matrix& LU, int *indx){ // LU is the LU decomposition of
} }
// friend of Mat3x3 // friend of Mat3x3
void FastLU(Mat3x3& A, Mat3x3& LU, int *indx){ // LU is the LU decomposition of A void POEMS::FastLU(Mat3x3& A, Mat3x3& LU, int *indx){ // LU is the LU decomposition of A
int i,imax=0,j,k; int i,imax=0,j,k;
double big, dum, sum, temp; double big, dum, sum, temp;
double vv[10000]; double vv[10000];
@ -357,7 +359,7 @@ void FastLU(Mat3x3& A, Mat3x3& LU, int *indx){ // LU is the LU decomposition of
} }
// friend of Mat4x4 // friend of Mat4x4
void FastLU(Mat4x4& A, Mat4x4& LU, int *indx){ // LU is the LU decomposition of A void POEMS::FastLU(Mat4x4& A, Mat4x4& LU, int *indx){ // LU is the LU decomposition of A
int i,imax=0,j,k; int i,imax=0,j,k;
double big, dum, sum, temp; double big, dum, sum, temp;
double vv[10000]; double vv[10000];
@ -405,7 +407,7 @@ void FastLU(Mat4x4& A, Mat4x4& LU, int *indx){ // LU is the LU decomposition of
} }
// friend of Mat6x6 // friend of Mat6x6
void FastLU(Mat6x6& A, Mat6x6& LU, int *indx){ // LU is the LU decomposition of A void POEMS::FastLU(Mat6x6& A, Mat6x6& LU, int *indx){ // LU is the LU decomposition of A
int i,imax=0,j,k; int i,imax=0,j,k;
double big, dum, sum, temp; double big, dum, sum, temp;
double vv[10000]; double vv[10000];
@ -453,7 +455,7 @@ void FastLU(Mat6x6& A, Mat6x6& LU, int *indx){ // LU is the LU decomposition of
} }
// friend of Matrix // friend of Matrix
void FastLUSubs(Matrix& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution void POEMS::FastLUSubs(Matrix& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution
int i,ip,j,k; int i,ip,j,k;
int n = B.numrows; int n = B.numrows;
int c = B.numcols; int c = B.numcols;
@ -477,7 +479,7 @@ void FastLUSubs(Matrix& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate For
} }
// friend of Matrix and Mat3x3 // friend of Matrix and Mat3x3
void FastLUSubs(Mat3x3& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution void POEMS::FastLUSubs(Mat3x3& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution
int i,ip,j,k; int i,ip,j,k;
int n = B.numrows; int n = B.numrows;
int c = B.numcols; int c = B.numcols;
@ -501,7 +503,7 @@ void FastLUSubs(Mat3x3& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate For
} }
// friend of Matrix and Mat4x4 // friend of Matrix and Mat4x4
void FastLUSubs(Mat4x4& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution void POEMS::FastLUSubs(Mat4x4& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution
int i,ip,j,k; int i,ip,j,k;
int n = B.numrows; int n = B.numrows;
int c = B.numcols; int c = B.numcols;
@ -525,7 +527,7 @@ void FastLUSubs(Mat4x4& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate For
} }
// friend of Matrix and Mat6x6 // friend of Matrix and Mat6x6
void FastLUSubs(Mat6x6& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution void POEMS::FastLUSubs(Mat6x6& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution
int i,ip,j,k; int i,ip,j,k;
int n = B.numrows; int n = B.numrows;
int c = B.numcols; int c = B.numcols;
@ -551,7 +553,7 @@ void FastLUSubs(Mat6x6& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate For
// The following LUSubsLH routine is incomplete at the moment. // The following LUSubsLH routine is incomplete at the moment.
// friend of Matrix // friend of Matrix
void FastLUSubsLH(Matrix& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution void POEMS::FastLUSubsLH(Matrix& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate Forward and Back Substitution
int i,ip,j,k; int i,ip,j,k;
int n = B.numcols; int n = B.numcols;
int c = B.numrows; int c = B.numrows;
@ -582,13 +584,13 @@ void FastLUSubsLH(Matrix& LU, Matrix& B, Matrix& C, int *indx){ // Appropriate F
// Triple sum // Triple sum
// //
void FastTripleSum(Vect3& a, Vect3& b, Vect3& c, Vect3& d){ // d = a+b+c void POEMS::FastTripleSum(Vect3& a, Vect3& b, Vect3& c, Vect3& d){ // d = a+b+c
d.elements[0] = a.elements[0]+b.elements[0]+c.elements[0]; d.elements[0] = a.elements[0]+b.elements[0]+c.elements[0];
d.elements[1] = a.elements[1]+b.elements[1]+c.elements[1]; d.elements[1] = a.elements[1]+b.elements[1]+c.elements[1];
d.elements[2] = a.elements[2]+b.elements[2]+c.elements[2]; d.elements[2] = a.elements[2]+b.elements[2]+c.elements[2];
} }
void FastTripleSumPPM(Vect3& a, Vect3& b, Vect3& c, Vect3& d){ // d = a+b-c void POEMS::FastTripleSumPPM(Vect3& a, Vect3& b, Vect3& c, Vect3& d){ // d = a+b-c
d.elements[0] = a.elements[0]+b.elements[0]-c.elements[0]; d.elements[0] = a.elements[0]+b.elements[0]-c.elements[0];
d.elements[1] = a.elements[1]+b.elements[1]-c.elements[1]; d.elements[1] = a.elements[1]+b.elements[1]-c.elements[1];
d.elements[2] = a.elements[2]+b.elements[2]-c.elements[2]; d.elements[2] = a.elements[2]+b.elements[2]-c.elements[2];
@ -599,7 +601,7 @@ void FastTripleSumPPM(Vect3& a, Vect3& b, Vect3& c, Vect3& d){ // d = a+b-c
// //
// friend of matrix // friend of matrix
void FastMult(Matrix& A, Matrix& B, Matrix& C){ // C = A*B void POEMS::FastMult(Matrix& A, Matrix& B, Matrix& C){ // C = A*B
// assumes dimensions are already correct! // assumes dimensions are already correct!
int r = A.numrows; int r = A.numrows;
int ca = A.numcols; int ca = A.numcols;
@ -615,7 +617,7 @@ void FastMult(Matrix& A, Matrix& B, Matrix& C){ // C = A*B
} }
// friend of matrix // friend of matrix
void FastTMult(Matrix& A, Matrix& B, Matrix& C){ // C = A*B void POEMS::FastTMult(Matrix& A, Matrix& B, Matrix& C){ // C = A*B
// assumes dimensions are already correct! // assumes dimensions are already correct!
int r = A.numcols; int r = A.numcols;
int ca = A.numrows; int ca = A.numrows;
@ -631,14 +633,14 @@ void FastTMult(Matrix& A, Matrix& B, Matrix& C){ // C = A*B
} }
// friend of Mat3x3 & Vect3 // friend of Mat3x3 & Vect3
void FastMult(Mat3x3& A, Vect3& B, Vect3& C){ // C = A*B void POEMS::FastMult(Mat3x3& A, Vect3& B, Vect3& C){ // C = A*B
C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[0][1]*B.elements[1] + A.elements[0][2]*B.elements[2]; C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[0][1]*B.elements[1] + A.elements[0][2]*B.elements[2];
C.elements[1] = A.elements[1][0]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[1][2]*B.elements[2]; C.elements[1] = A.elements[1][0]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[1][2]*B.elements[2];
C.elements[2] = A.elements[2][0]*B.elements[0] + A.elements[2][1]*B.elements[1] + A.elements[2][2]*B.elements[2]; C.elements[2] = A.elements[2][0]*B.elements[0] + A.elements[2][1]*B.elements[1] + A.elements[2][2]*B.elements[2];
} }
// friend of Mat3x3, ColMatrix, & Vect3 // friend of Mat3x3, ColMatrix, & Vect3
void FastMult(Mat3x3& A, ColMatrix& B, Vect3& C){ // C = A*B void POEMS::FastMult(Mat3x3& A, ColMatrix& B, Vect3& C){ // C = A*B
C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[0][1]*B.elements[1] + A.elements[0][2]*B.elements[2]; C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[0][1]*B.elements[1] + A.elements[0][2]*B.elements[2];
C.elements[1] = A.elements[1][0]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[1][2]*B.elements[2]; C.elements[1] = A.elements[1][0]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[1][2]*B.elements[2];
C.elements[2] = A.elements[2][0]*B.elements[0] + A.elements[2][1]*B.elements[1] + A.elements[2][2]*B.elements[2]; C.elements[2] = A.elements[2][0]*B.elements[0] + A.elements[2][1]*B.elements[1] + A.elements[2][2]*B.elements[2];
@ -646,42 +648,42 @@ void FastMult(Mat3x3& A, ColMatrix& B, Vect3& C){ // C = A*B
// friend of Mat3x3, ColMatrix, & Vect3 // friend of Mat3x3, ColMatrix, & Vect3
void FastMult(Mat3x3& A, Vect3& B, ColMatrix& C){ // C = A*B void POEMS::FastMult(Mat3x3& A, Vect3& B, ColMatrix& C){ // C = A*B
C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[0][1]*B.elements[1] + A.elements[0][2]*B.elements[2]; C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[0][1]*B.elements[1] + A.elements[0][2]*B.elements[2];
C.elements[1] = A.elements[1][0]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[1][2]*B.elements[2]; C.elements[1] = A.elements[1][0]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[1][2]*B.elements[2];
C.elements[2] = A.elements[2][0]*B.elements[0] + A.elements[2][1]*B.elements[1] + A.elements[2][2]*B.elements[2]; C.elements[2] = A.elements[2][0]*B.elements[0] + A.elements[2][1]*B.elements[1] + A.elements[2][2]*B.elements[2];
} }
// friend of Mat3x3 & Vect3 // friend of Mat3x3 & Vect3
void FastTMult(Mat3x3& A, Vect3& B, Vect3& C){ // C = A^T*B void POEMS::FastTMult(Mat3x3& A, Vect3& B, Vect3& C){ // C = A^T*B
C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[1][0]*B.elements[1] + A.elements[2][0]*B.elements[2]; C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[1][0]*B.elements[1] + A.elements[2][0]*B.elements[2];
C.elements[1] = A.elements[0][1]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[2][1]*B.elements[2]; C.elements[1] = A.elements[0][1]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[2][1]*B.elements[2];
C.elements[2] = A.elements[0][2]*B.elements[0] + A.elements[1][2]*B.elements[1] + A.elements[2][2]*B.elements[2]; C.elements[2] = A.elements[0][2]*B.elements[0] + A.elements[1][2]*B.elements[1] + A.elements[2][2]*B.elements[2];
} }
// friend of Mat3x3 & Vect3 // friend of Mat3x3 & Vect3
void FastNegMult(Mat3x3& A, Vect3& B, Vect3& C){ // C = -A*B void POEMS::FastNegMult(Mat3x3& A, Vect3& B, Vect3& C){ // C = -A*B
C.elements[0] = -A.elements[0][0]*B.elements[0] - A.elements[0][1]*B.elements[1] - A.elements[0][2]*B.elements[2]; C.elements[0] = -A.elements[0][0]*B.elements[0] - A.elements[0][1]*B.elements[1] - A.elements[0][2]*B.elements[2];
C.elements[1] = -A.elements[1][0]*B.elements[0] - A.elements[1][1]*B.elements[1] - A.elements[1][2]*B.elements[2]; C.elements[1] = -A.elements[1][0]*B.elements[0] - A.elements[1][1]*B.elements[1] - A.elements[1][2]*B.elements[2];
C.elements[2] = -A.elements[2][0]*B.elements[0] - A.elements[2][1]*B.elements[1] - A.elements[2][2]*B.elements[2]; C.elements[2] = -A.elements[2][0]*B.elements[0] - A.elements[2][1]*B.elements[1] - A.elements[2][2]*B.elements[2];
} }
// friend of Mat3x3 & Vect3 // friend of Mat3x3 & Vect3
void FastNegTMult(Mat3x3& A, Vect3& B, Vect3& C){ // C = -A^T*B void POEMS::FastNegTMult(Mat3x3& A, Vect3& B, Vect3& C){ // C = -A^T*B
C.elements[0] = -A.elements[0][0]*B.elements[0] - A.elements[1][0]*B.elements[1] - A.elements[2][0]*B.elements[2]; C.elements[0] = -A.elements[0][0]*B.elements[0] - A.elements[1][0]*B.elements[1] - A.elements[2][0]*B.elements[2];
C.elements[1] = -A.elements[0][1]*B.elements[0] - A.elements[1][1]*B.elements[1] - A.elements[2][1]*B.elements[2]; C.elements[1] = -A.elements[0][1]*B.elements[0] - A.elements[1][1]*B.elements[1] - A.elements[2][1]*B.elements[2];
C.elements[2] = -A.elements[0][2]*B.elements[0] - A.elements[1][2]*B.elements[1] - A.elements[2][2]*B.elements[2]; C.elements[2] = -A.elements[0][2]*B.elements[0] - A.elements[1][2]*B.elements[1] - A.elements[2][2]*B.elements[2];
} }
// friend of Vect3 // friend of Vect3
void FastMult(double a, Vect3& B, Vect3& C){ // C = a*B void POEMS::FastMult(double a, Vect3& B, Vect3& C){ // C = a*B
C.elements[0] = a*B.elements[0]; C.elements[0] = a*B.elements[0];
C.elements[1] = a*B.elements[1]; C.elements[1] = a*B.elements[1];
C.elements[2] = a*B.elements[2]; C.elements[2] = a*B.elements[2];
} }
// friend of Mat4x4 & Vect4 // friend of Mat4x4 & Vect4
void FastMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = A*B void POEMS::FastMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = A*B
C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[0][1]*B.elements[1] + A.elements[0][2]*B.elements[2] + A.elements[0][3]*B.elements[3]; C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[0][1]*B.elements[1] + A.elements[0][2]*B.elements[2] + A.elements[0][3]*B.elements[3];
C.elements[1] = A.elements[1][0]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[1][2]*B.elements[2] + A.elements[1][3]*B.elements[3]; C.elements[1] = A.elements[1][0]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[1][2]*B.elements[2] + A.elements[1][3]*B.elements[3];
C.elements[2] = A.elements[2][0]*B.elements[0] + A.elements[2][1]*B.elements[1] + A.elements[2][2]*B.elements[2] + A.elements[2][3]*B.elements[3]; C.elements[2] = A.elements[2][0]*B.elements[0] + A.elements[2][1]*B.elements[1] + A.elements[2][2]*B.elements[2] + A.elements[2][3]*B.elements[3];
@ -689,7 +691,7 @@ void FastMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = A*B
} }
// friend of Mat4x4 & Vect4 // friend of Mat4x4 & Vect4
void FastTMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = A^T*B void POEMS::FastTMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = A^T*B
C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[1][0]*B.elements[1] + A.elements[2][0]*B.elements[2] + A.elements[3][0]*B.elements[3]; C.elements[0] = A.elements[0][0]*B.elements[0] + A.elements[1][0]*B.elements[1] + A.elements[2][0]*B.elements[2] + A.elements[3][0]*B.elements[3];
C.elements[1] = A.elements[0][1]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[2][1]*B.elements[2] + A.elements[3][1]*B.elements[3]; C.elements[1] = A.elements[0][1]*B.elements[0] + A.elements[1][1]*B.elements[1] + A.elements[2][1]*B.elements[2] + A.elements[3][1]*B.elements[3];
C.elements[2] = A.elements[0][2]*B.elements[0] + A.elements[1][2]*B.elements[1] + A.elements[2][2]*B.elements[2] + A.elements[3][2]*B.elements[3]; C.elements[2] = A.elements[0][2]*B.elements[0] + A.elements[1][2]*B.elements[1] + A.elements[2][2]*B.elements[2] + A.elements[3][2]*B.elements[3];
@ -697,7 +699,7 @@ void FastTMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = A^T*B
} }
// friend of Mat4x4 & Vect4 // friend of Mat4x4 & Vect4
void FastNegMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = -A*B void POEMS::FastNegMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = -A*B
C.elements[0] = -A.elements[0][0]*B.elements[0] - A.elements[0][1]*B.elements[1] - A.elements[0][2]*B.elements[2] - A.elements[0][3]*B.elements[3]; C.elements[0] = -A.elements[0][0]*B.elements[0] - A.elements[0][1]*B.elements[1] - A.elements[0][2]*B.elements[2] - A.elements[0][3]*B.elements[3];
C.elements[1] = -A.elements[1][0]*B.elements[0] - A.elements[1][1]*B.elements[1] - A.elements[1][2]*B.elements[2] - A.elements[1][3]*B.elements[3]; C.elements[1] = -A.elements[1][0]*B.elements[0] - A.elements[1][1]*B.elements[1] - A.elements[1][2]*B.elements[2] - A.elements[1][3]*B.elements[3];
C.elements[2] = -A.elements[2][0]*B.elements[0] - A.elements[2][1]*B.elements[1] - A.elements[2][2]*B.elements[2] - A.elements[2][3]*B.elements[3]; C.elements[2] = -A.elements[2][0]*B.elements[0] - A.elements[2][1]*B.elements[1] - A.elements[2][2]*B.elements[2] - A.elements[2][3]*B.elements[3];
@ -705,7 +707,7 @@ void FastNegMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = -A*B
} }
// friend of Mat4x4 & Vect4 // friend of Mat4x4 & Vect4
void FastNegTMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = -A^T*B void POEMS::FastNegTMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = -A^T*B
C.elements[0] = -A.elements[0][0]*B.elements[0] - A.elements[1][0]*B.elements[1] - A.elements[2][0]*B.elements[2] - A.elements[3][0]*B.elements[3]; C.elements[0] = -A.elements[0][0]*B.elements[0] - A.elements[1][0]*B.elements[1] - A.elements[2][0]*B.elements[2] - A.elements[3][0]*B.elements[3];
C.elements[1] = -A.elements[0][1]*B.elements[0] - A.elements[1][1]*B.elements[1] - A.elements[2][1]*B.elements[2] - A.elements[3][1]*B.elements[3]; C.elements[1] = -A.elements[0][1]*B.elements[0] - A.elements[1][1]*B.elements[1] - A.elements[2][1]*B.elements[2] - A.elements[3][1]*B.elements[3];
C.elements[2] = -A.elements[0][2]*B.elements[0] - A.elements[1][2]*B.elements[1] - A.elements[2][2]*B.elements[2] - A.elements[3][2]*B.elements[3]; C.elements[2] = -A.elements[0][2]*B.elements[0] - A.elements[1][2]*B.elements[1] - A.elements[2][2]*B.elements[2] - A.elements[3][2]*B.elements[3];
@ -713,7 +715,7 @@ void FastNegTMult(Mat4x4& A, Vect4& B, Vect4& C){ // C = -A^T*B
} }
// friend of Vect4 // friend of Vect4
void FastMult(double a, Vect4& B, Vect4& C){ // C = a*B void POEMS::FastMult(double a, Vect4& B, Vect4& C){ // C = a*B
C.elements[0] = a*B.elements[0]; C.elements[0] = a*B.elements[0];
C.elements[1] = a*B.elements[1]; C.elements[1] = a*B.elements[1];
C.elements[2] = a*B.elements[2]; C.elements[2] = a*B.elements[2];
@ -721,7 +723,7 @@ void FastMult(double a, Vect4& B, Vect4& C){ // C = a*B
} }
// friend of Matrix & Mat6x6 // friend of Matrix & Mat6x6
void FastMultT(Matrix& A, Matrix& B, Mat6x6& C){ // C = A*B^T void POEMS::FastMultT(Matrix& A, Matrix& B, Mat6x6& C){ // C = A*B^T
int i,j,k,n; int i,j,k,n;
n = A.numcols; n = A.numcols;
@ -734,7 +736,7 @@ void FastMultT(Matrix& A, Matrix& B, Mat6x6& C){ // C = A*B^T
} }
// friend Matrix, Vect6, ColMatrix // friend Matrix, Vect6, ColMatrix
void FastMult(Matrix& A, ColMatrix& B, Vect6& C){ void POEMS::FastMult(Matrix& A, ColMatrix& B, Vect6& C){
int ca = A.numcols; int ca = A.numcols;
int i,k; int i,k;
@ -746,7 +748,7 @@ void FastMult(Matrix& A, ColMatrix& B, Vect6& C){
} }
// friend of Matrix & Mat6x6 // friend of Matrix & Mat6x6
void FastMult(Mat6x6& A, Matrix& B, Matrix& C){ // C = A*B void POEMS::FastMult(Mat6x6& A, Matrix& B, Matrix& C){ // C = A*B
// assumes dimensions are already correct! // assumes dimensions are already correct!
int cb = B.numcols; int cb = B.numcols;
@ -760,7 +762,7 @@ void FastMult(Mat6x6& A, Matrix& B, Matrix& C){ // C = A*B
} }
// friend Matrix, Vect6, ColMatrix // friend Matrix, Vect6, ColMatrix
void FastTMult(Matrix& A, Vect6& B, ColMatrix& C){ // C = A^T*B void POEMS::FastTMult(Matrix& A, Vect6& B, ColMatrix& C){ // C = A^T*B
int n = C.numrows; int n = C.numrows;
int i,k; int i,k;
for(i=0;i<n;i++){ for(i=0;i<n;i++){
@ -771,7 +773,7 @@ void FastTMult(Matrix& A, Vect6& B, ColMatrix& C){ // C = A^T*B
} }
// friend of Mat3x3 // friend of Mat3x3
void FastMult(Mat3x3& A, Mat3x3& B, Mat3x3& C){ // C = A*B void POEMS::FastMult(Mat3x3& A, Mat3x3& B, Mat3x3& C){ // C = A*B
C.elements[0][0] = A.elements[0][0]*B.elements[0][0] + A.elements[0][1]*B.elements[1][0] + A.elements[0][2]*B.elements[2][0]; C.elements[0][0] = A.elements[0][0]*B.elements[0][0] + A.elements[0][1]*B.elements[1][0] + A.elements[0][2]*B.elements[2][0];
C.elements[0][1] = A.elements[0][0]*B.elements[0][1] + A.elements[0][1]*B.elements[1][1] + A.elements[0][2]*B.elements[2][1]; C.elements[0][1] = A.elements[0][0]*B.elements[0][1] + A.elements[0][1]*B.elements[1][1] + A.elements[0][2]*B.elements[2][1];
C.elements[0][2] = A.elements[0][0]*B.elements[0][2] + A.elements[0][1]*B.elements[1][2] + A.elements[0][2]*B.elements[2][2]; C.elements[0][2] = A.elements[0][0]*B.elements[0][2] + A.elements[0][1]*B.elements[1][2] + A.elements[0][2]*B.elements[2][2];
@ -786,7 +788,7 @@ void FastMult(Mat3x3& A, Mat3x3& B, Mat3x3& C){ // C = A*B
} }
// friend of Mat3x3 // friend of Mat3x3
void FastMultT(Mat3x3& A, Mat3x3& B, Mat3x3& C){ // C = A*B^T void POEMS::FastMultT(Mat3x3& A, Mat3x3& B, Mat3x3& C){ // C = A*B^T
C.elements[0][0] = A.elements[0][0]*B.elements[0][0] + A.elements[0][1]*B.elements[0][1] + A.elements[0][2]*B.elements[0][2]; C.elements[0][0] = A.elements[0][0]*B.elements[0][0] + A.elements[0][1]*B.elements[0][1] + A.elements[0][2]*B.elements[0][2];
C.elements[0][1] = A.elements[0][0]*B.elements[1][0] + A.elements[0][1]*B.elements[1][1] + A.elements[0][2]*B.elements[1][2]; C.elements[0][1] = A.elements[0][0]*B.elements[1][0] + A.elements[0][1]*B.elements[1][1] + A.elements[0][2]*B.elements[1][2];
C.elements[0][2] = A.elements[0][0]*B.elements[2][0] + A.elements[0][1]*B.elements[2][1] + A.elements[0][2]*B.elements[2][2]; C.elements[0][2] = A.elements[0][0]*B.elements[2][0] + A.elements[0][1]*B.elements[2][1] + A.elements[0][2]*B.elements[2][2];
@ -801,7 +803,7 @@ void FastMultT(Mat3x3& A, Mat3x3& B, Mat3x3& C){ // C = A*B^T
} }
// friend of Mat4x4 // friend of Mat4x4
void FastMult(Mat4x4& A, Mat4x4& B, Mat4x4& C){ // C = A*B void POEMS::FastMult(Mat4x4& A, Mat4x4& B, Mat4x4& C){ // C = A*B
C.elements[0][0] = A.elements[0][0]*B.elements[0][0] + A.elements[0][1]*B.elements[1][0] + A.elements[0][2]*B.elements[2][0] + A.elements[0][3]*B.elements[3][0]; C.elements[0][0] = A.elements[0][0]*B.elements[0][0] + A.elements[0][1]*B.elements[1][0] + A.elements[0][2]*B.elements[2][0] + A.elements[0][3]*B.elements[3][0];
C.elements[0][1] = A.elements[0][0]*B.elements[0][1] + A.elements[0][1]*B.elements[1][1] + A.elements[0][2]*B.elements[2][1] + A.elements[0][3]*B.elements[3][1]; C.elements[0][1] = A.elements[0][0]*B.elements[0][1] + A.elements[0][1]*B.elements[1][1] + A.elements[0][2]*B.elements[2][1] + A.elements[0][3]*B.elements[3][1];
C.elements[0][2] = A.elements[0][0]*B.elements[0][2] + A.elements[0][1]*B.elements[1][2] + A.elements[0][2]*B.elements[2][2] + A.elements[0][3]*B.elements[3][2]; C.elements[0][2] = A.elements[0][0]*B.elements[0][2] + A.elements[0][1]*B.elements[1][2] + A.elements[0][2]*B.elements[2][2] + A.elements[0][3]*B.elements[3][2];
@ -824,7 +826,7 @@ void FastMult(Mat4x4& A, Mat4x4& B, Mat4x4& C){ // C = A*B
} }
// friend of Mat4x4 // friend of Mat4x4
void FastMultT(Mat4x4& A, Mat4x4& B, Mat4x4& C){ // C = A*B^T void POEMS::FastMultT(Mat4x4& A, Mat4x4& B, Mat4x4& C){ // C = A*B^T
C.elements[0][0] = A.elements[0][0]*B.elements[0][0] + A.elements[0][1]*B.elements[0][1] + A.elements[0][2]*B.elements[0][2] + A.elements[0][3]*B.elements[0][3]; C.elements[0][0] = A.elements[0][0]*B.elements[0][0] + A.elements[0][1]*B.elements[0][1] + A.elements[0][2]*B.elements[0][2] + A.elements[0][3]*B.elements[0][3];
C.elements[0][1] = A.elements[0][0]*B.elements[1][0] + A.elements[0][1]*B.elements[1][1] + A.elements[0][2]*B.elements[1][2] + A.elements[0][3]*B.elements[1][3]; C.elements[0][1] = A.elements[0][0]*B.elements[1][0] + A.elements[0][1]*B.elements[1][1] + A.elements[0][2]*B.elements[1][2] + A.elements[0][3]*B.elements[1][3];
C.elements[0][2] = A.elements[0][0]*B.elements[2][0] + A.elements[0][1]*B.elements[2][1] + A.elements[0][2]*B.elements[2][2] + A.elements[0][3]*B.elements[2][3]; C.elements[0][2] = A.elements[0][0]*B.elements[2][0] + A.elements[0][1]*B.elements[2][1] + A.elements[0][2]*B.elements[2][2] + A.elements[0][3]*B.elements[2][3];
@ -848,7 +850,7 @@ void FastMultT(Mat4x4& A, Mat4x4& B, Mat4x4& C){ // C = A*B^T
} }
// friend of Mat6x6 // friend of Mat6x6
void FastMult(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A*B void POEMS::FastMult(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A*B
int i,j,k; int i,j,k;
for(i=0;i<6;i++) for(i=0;i<6;i++)
for(j=0;j<6;j++){ for(j=0;j<6;j++){
@ -859,7 +861,7 @@ void FastMult(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A*B
} }
// friend of Mat6x6 // friend of Mat6x6
void FastMultT(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A*B void POEMS::FastMultT(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A*B
int i,j,k; int i,j,k;
for(i=0;i<6;i++) for(i=0;i<6;i++)
for(j=0;j<6;j++){ for(j=0;j<6;j++){
@ -870,7 +872,7 @@ void FastMultT(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A*B
} }
// friend of Mat6x6 // friend of Mat6x6
void FastTMult(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A^T*B void POEMS::FastTMult(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A^T*B
int i,j,k; int i,j,k;
for(i=0;i<6;i++) for(i=0;i<6;i++)
for(j=0;j<6;j++){ for(j=0;j<6;j++){
@ -881,13 +883,13 @@ void FastTMult(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A^T*B
} }
// friend of Mat6x6 & Vect6 // friend of Mat6x6 & Vect6
void FastMult(Mat6x6& A, Vect6& B, Vect6& C){ // C = A*B void POEMS::FastMult(Mat6x6& A, Vect6& B, Vect6& C){ // C = A*B
for(int i=0;i<6;i++) for(int i=0;i<6;i++)
C.elements[i] = A.elements[i][0]*B.elements[0] + A.elements[i][1]*B.elements[1] + A.elements[i][2]*B.elements[2] + A.elements[i][3]*B.elements[3] + A.elements[i][4]*B.elements[4] + A.elements[i][5]*B.elements[5]; C.elements[i] = A.elements[i][0]*B.elements[0] + A.elements[i][1]*B.elements[1] + A.elements[i][2]*B.elements[2] + A.elements[i][3]*B.elements[3] + A.elements[i][4]*B.elements[4] + A.elements[i][5]*B.elements[5];
} }
// friend of Mat6x6 & Vect6 // friend of Mat6x6 & Vect6
void FastTMult(Mat6x6& A, Vect6& B, Vect6& C){ // C = A^T*B void POEMS::FastTMult(Mat6x6& A, Vect6& B, Vect6& C){ // C = A^T*B
for(int i=0;i<6;i++) for(int i=0;i<6;i++)
C.elements[i] = A.elements[0][i]*B.elements[0] + A.elements[1][i]*B.elements[1] + A.elements[2][i]*B.elements[2] + A.elements[3][i]*B.elements[3] + A.elements[4][i]*B.elements[4] + A.elements[5][i]*B.elements[5]; C.elements[i] = A.elements[0][i]*B.elements[0] + A.elements[1][i]*B.elements[1] + A.elements[2][i]*B.elements[2] + A.elements[3][i]*B.elements[3] + A.elements[4][i]*B.elements[4] + A.elements[5][i]*B.elements[5];
} }
@ -897,21 +899,21 @@ void FastTMult(Mat6x6& A, Vect6& B, Vect6& C){ // C = A^T*B
// //
// friend of Vect3 // friend of Vect3
void FastAdd(Vect3& A, Vect3& B, Vect3& C){ // C = A+B void POEMS::FastAdd(Vect3& A, Vect3& B, Vect3& C){ // C = A+B
C.elements[0] = A.elements[0] + B.elements[0]; C.elements[0] = A.elements[0] + B.elements[0];
C.elements[1] = A.elements[1] + B.elements[1]; C.elements[1] = A.elements[1] + B.elements[1];
C.elements[2] = A.elements[2] + B.elements[2]; C.elements[2] = A.elements[2] + B.elements[2];
} }
// friend of Vect4 // friend of Vect4
void FastAdd(Vect4& A, Vect4& B, Vect4& C){ // C = A+B void POEMS::FastAdd(Vect4& A, Vect4& B, Vect4& C){ // C = A+B
C.elements[0] = A.elements[0] + B.elements[0]; C.elements[0] = A.elements[0] + B.elements[0];
C.elements[1] = A.elements[1] + B.elements[1]; C.elements[1] = A.elements[1] + B.elements[1];
C.elements[2] = A.elements[2] + B.elements[2]; C.elements[2] = A.elements[2] + B.elements[2];
C.elements[3] = A.elements[3] + B.elements[3]; C.elements[3] = A.elements[3] + B.elements[3];
} }
void FastAdd(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A+B void POEMS::FastAdd(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A+B
int i,j; int i,j;
for(i=0;i<6;i++) for(i=0;i<6;i++)
for(j=0;j<6;j++) for(j=0;j<6;j++)
@ -919,7 +921,7 @@ void FastAdd(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A+B
} }
// friend of Vect6 // friend of Vect6
void FastAdd(Vect6& A, Vect6& B, Vect6& C){ // C = A-B void POEMS::FastAdd(Vect6& A, Vect6& B, Vect6& C){ // C = A-B
C.elements[0] = A.elements[0] + B.elements[0]; C.elements[0] = A.elements[0] + B.elements[0];
C.elements[1] = A.elements[1] + B.elements[1]; C.elements[1] = A.elements[1] + B.elements[1];
C.elements[2] = A.elements[2] + B.elements[2]; C.elements[2] = A.elements[2] + B.elements[2];
@ -933,21 +935,21 @@ void FastAdd(Vect6& A, Vect6& B, Vect6& C){ // C = A-B
// //
// friend of Vect3 // friend of Vect3
void FastSubt(Vect3& A, Vect3& B, Vect3& C){ // C = A-B void POEMS::FastSubt(Vect3& A, Vect3& B, Vect3& C){ // C = A-B
C.elements[0] = A.elements[0] - B.elements[0]; C.elements[0] = A.elements[0] - B.elements[0];
C.elements[1] = A.elements[1] - B.elements[1]; C.elements[1] = A.elements[1] - B.elements[1];
C.elements[2] = A.elements[2] - B.elements[2]; C.elements[2] = A.elements[2] - B.elements[2];
} }
// friend of Vect4 // friend of Vect4
void FastSubt(Vect4& A, Vect4& B, Vect4& C){ // C = A-B void POEMS::FastSubt(Vect4& A, Vect4& B, Vect4& C){ // C = A-B
C.elements[0] = A.elements[0] - B.elements[0]; C.elements[0] = A.elements[0] - B.elements[0];
C.elements[1] = A.elements[1] - B.elements[1]; C.elements[1] = A.elements[1] - B.elements[1];
C.elements[2] = A.elements[2] - B.elements[2]; C.elements[2] = A.elements[2] - B.elements[2];
C.elements[3] = A.elements[3] - B.elements[3]; C.elements[3] = A.elements[3] - B.elements[3];
} }
void FastSubt(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A-B void POEMS::FastSubt(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A-B
int i,j; int i,j;
for(i=0;i<6;i++) for(i=0;i<6;i++)
for(j=0;j<6;j++) for(j=0;j<6;j++)
@ -955,7 +957,7 @@ void FastSubt(Mat6x6& A, Mat6x6& B, Mat6x6& C){ // C = A-B
} }
// friend of Vect6 // friend of Vect6
void FastSubt(Vect6& A, Vect6& B, Vect6& C){ // C = A-B void POEMS::FastSubt(Vect6& A, Vect6& B, Vect6& C){ // C = A-B
C.elements[0] = A.elements[0] - B.elements[0]; C.elements[0] = A.elements[0] - B.elements[0];
C.elements[1] = A.elements[1] - B.elements[1]; C.elements[1] = A.elements[1] - B.elements[1];
C.elements[2] = A.elements[2] - B.elements[2]; C.elements[2] = A.elements[2] - B.elements[2];
@ -965,33 +967,33 @@ void FastSubt(Vect6& A, Vect6& B, Vect6& C){ // C = A-B
} }
// friend of ColMatMap // friend of ColMatMap
void FastAssign(ColMatMap& A, ColMatMap& C){ void POEMS::FastAssign(ColMatMap& A, ColMatMap& C){
for(int i=0;i<C.numrows;i++) for(int i=0;i<C.numrows;i++)
*(C.elements[i]) = *(A.elements[i]); *(C.elements[i]) = *(A.elements[i]);
} }
// friend of ColMatrix // friend of ColMatrix
void FastAssign(ColMatrix& A, ColMatrix& C){ //C = A void POEMS::FastAssign(ColMatrix& A, ColMatrix& C){ //C = A
for(int i=0;i<C.numrows;i++) for(int i=0;i<C.numrows;i++)
C.elements[i] = A.elements[i]; C.elements[i] = A.elements[i];
} }
// friend of Vect3 // friend of Vect3
void FastAssign(Vect3& A, Vect3& C){ //C = A void POEMS::FastAssign(Vect3& A, Vect3& C){ //C = A
C.elements[0] = A.elements[0]; C.elements[0] = A.elements[0];
C.elements[1] = A.elements[1]; C.elements[1] = A.elements[1];
C.elements[2] = A.elements[2]; C.elements[2] = A.elements[2];
} }
// friend of Vect3 & ColMatrix // friend of Vect3 & ColMatrix
void FastAssign(ColMatrix& A, Vect3& C){ //C = A void POEMS::FastAssign(ColMatrix& A, Vect3& C){ //C = A
C.elements[0] = A.elements[0]; C.elements[0] = A.elements[0];
C.elements[1] = A.elements[1]; C.elements[1] = A.elements[1];
C.elements[2] = A.elements[2]; C.elements[2] = A.elements[2];
} }
// friend of Vect4 // friend of Vect4
void FastAssign(Vect4& A, Vect4& C){ //C = A void POEMS::FastAssign(Vect4& A, Vect4& C){ //C = A
C.elements[0] = A.elements[0]; C.elements[0] = A.elements[0];
C.elements[1] = A.elements[1]; C.elements[1] = A.elements[1];
C.elements[2] = A.elements[2]; C.elements[2] = A.elements[2];
@ -999,7 +1001,7 @@ void FastAssign(Vect4& A, Vect4& C){ //C = A
} }
// friend of Mat3x3 // friend of Mat3x3
void FastAssignT(Mat3x3& A, Mat3x3& C){ void POEMS::FastAssignT(Mat3x3& A, Mat3x3& C){
C.elements[0][0] = A.elements[0][0]; C.elements[0][0] = A.elements[0][0];
C.elements[1][1] = A.elements[1][1]; C.elements[1][1] = A.elements[1][1];
C.elements[2][2] = A.elements[2][2]; C.elements[2][2] = A.elements[2][2];
@ -1015,7 +1017,7 @@ void FastAssignT(Mat3x3& A, Mat3x3& C){
} }
// friend of Mat4x4 // friend of Mat4x4
void FastAssignT(Mat4x4& A, Mat4x4& C){ void POEMS::FastAssignT(Mat4x4& A, Mat4x4& C){
C.elements[0][0] = A.elements[0][0]; C.elements[0][0] = A.elements[0][0];
C.elements[1][1] = A.elements[1][1]; C.elements[1][1] = A.elements[1][1];
C.elements[2][2] = A.elements[2][2]; C.elements[2][2] = A.elements[2][2];

3
lib/poems/fastmatrixops.h
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@ -18,6 +18,7 @@
#ifndef FASTMATRIXOPS_H #ifndef FASTMATRIXOPS_H
#define FASTMATRIXOPS_H #define FASTMATRIXOPS_H
namespace POEMS {
class ColMatMap; class ColMatMap;
class ColMatrix; class ColMatrix;
class Mat3x3; class Mat3x3;
@ -102,5 +103,5 @@ void FastAssign(ColMatrix&A, Vect3& C);
void FastAssign(Vect4& A, Vect4& C); // C = A void FastAssign(Vect4& A, Vect4& C); // C = A
void FastAssignT(Mat3x3& A, Mat3x3& C); // C = A^T void FastAssignT(Mat3x3& A, Mat3x3& C); // C = A^T
void FastAssignT(Mat4x4& A, Mat4x4& C); // C = A^T void FastAssignT(Mat4x4& A, Mat4x4& C); // C = A^T
}
#endif #endif

2
lib/poems/fixedpoint.cpp
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@ -24,6 +24,8 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace std; using namespace std;
using namespace POEMS;
FixedPoint::FixedPoint(){ FixedPoint::FixedPoint(){
} }

3
lib/poems/fixedpoint.h
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@ -24,6 +24,7 @@
#include "point.h" #include "point.h"
#include "vect3.h" #include "vect3.h"
namespace POEMS {
class FixedPoint : public Point { class FixedPoint : public Point {
public: public:
FixedPoint(); FixedPoint();
@ -35,5 +36,5 @@ public:
bool ReadInPointData(std::istream& in); bool ReadInPointData(std::istream& in);
void WriteOutPointData(std::ostream& out); void WriteOutPointData(std::ostream& out);
}; };
}
#endif #endif

8
lib/poems/freebodyjoint.cpp
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@ -29,6 +29,8 @@
#include "vect3.h" #include "vect3.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace POEMS;
FreeBodyJoint::FreeBodyJoint(){ FreeBodyJoint::FreeBodyJoint(){
DimQandU(7,6); DimQandU(7,6);
@ -73,7 +75,7 @@ Matrix FreeBodyJoint::GetBackward_sP(){
Mat6x6 sP; Mat6x6 sP;
sP.Identity(); sP.Identity();
sP =-1.0*sP; sP =-1.0*sP;
cout<<"Did I come here in "<<endl; std::cout<<"Did I come here in "<<std::endl;
return sP; return sP;
} }
@ -87,7 +89,7 @@ void FreeBodyJoint::UpdateBackward_sP( Matrix& sP){
} }
void FreeBodyJoint::ForwardKinematics(){ void FreeBodyJoint::ForwardKinematics(){
//cout<<"Check in freebody "<<q<<" "<<qdot<<endl; //std::cout<<"Check in freebody "<<q<<" "<<qdot<<std::endl;
EP_Normalize(q); EP_Normalize(q);
// COMMENT STEP1: CALCULATE ORIENTATIONS // COMMENT STEP1: CALCULATE ORIENTATIONS
@ -155,6 +157,6 @@ void FreeBodyJoint::ForwardKinematics(){
} }
void FreeBodyJoint::BackwardKinematics(){ void FreeBodyJoint::BackwardKinematics(){
cout<<"Did I come here "<<endl; std::cout<<"Did I come here "<<std::endl;
} }

4
lib/poems/freebodyjoint.h
View File

@ -23,7 +23,7 @@
#include "joint.h" #include "joint.h"
#include "matrix.h" #include "matrix.h"
namespace POEMS {
class FreeBodyJoint : public Joint{ class FreeBodyJoint : public Joint{
public: public:
FreeBodyJoint(); FreeBodyJoint();
@ -40,5 +40,5 @@ public:
void ForwardKinematics(); void ForwardKinematics();
void BackwardKinematics(); void BackwardKinematics();
}; };
}
#endif #endif

2
lib/poems/inertialframe.cpp
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@ -21,6 +21,8 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace std; using namespace std;
using namespace POEMS;
InertialFrame::InertialFrame(){ InertialFrame::InertialFrame(){
gravity.Zeros(); gravity.Zeros();

4
lib/poems/inertialframe.h
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@ -24,7 +24,7 @@
#include "body.h" #include "body.h"
#include "vect3.h" #include "vect3.h"
namespace POEMS {
class InertialFrame : public Body { class InertialFrame : public Body {
Vect3 gravity; Vect3 gravity;
public: public:
@ -36,5 +36,5 @@ public:
bool ReadInBodyData(std::istream& in); bool ReadInBodyData(std::istream& in);
void WriteOutBodyData(std::ostream& out); void WriteOutBodyData(std::ostream& out);
}; };
}
#endif #endif

4
lib/poems/joint.cpp
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@ -36,6 +36,8 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace std; using namespace std;
using namespace POEMS;
Joint::Joint(){ Joint::Joint(){
body1 = body2 = 0; body1 = body2 = 0;
@ -245,7 +247,7 @@ void Joint::ComputeBackwardGlobalTransform(){
// global joint functions // global joint functions
// //
Joint* NewJoint(int type){ Joint* POEMS::NewJoint(int type){
switch( JointType(type) ) switch( JointType(type) )
{ {
case FREEBODYJOINT : return new FreeBodyJoint; case FREEBODYJOINT : return new FreeBodyJoint;

3
lib/poems/joint.h
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@ -25,6 +25,7 @@
#include "matrix.h" #include "matrix.h"
#include "vect3.h" #include "vect3.h"
namespace POEMS {
class VirtualMatrix; class VirtualMatrix;
enum JointType { enum JointType {
@ -124,5 +125,5 @@ public:
// global joint functions // global joint functions
Joint* NewJoint(int type); Joint* NewJoint(int type);
}
#endif #endif

2
lib/poems/mat3x3.cpp
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@ -21,6 +21,8 @@
#include "mat3x3.h" #include "mat3x3.h"
using namespace std; using namespace std;
using namespace POEMS;
Mat3x3::Mat3x3(){ Mat3x3::Mat3x3(){
numrows = numcols = 3; numrows = numcols = 3;

4
lib/poems/mat3x3.h
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@ -21,6 +21,7 @@
#include <iostream> #include <iostream>
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class Vect3; class Vect3;
class Mat6x6; class Mat6x6;
class ColMatrix; class ColMatrix;
@ -76,7 +77,6 @@ public:
friend void EP_Transformation(ColMatrix& q, Mat3x3& C); friend void EP_Transformation(ColMatrix& q, Mat3x3& C);
friend void EP_FromTransformation(ColMatrix& q, Mat3x3& C); friend void EP_FromTransformation(ColMatrix& q, Mat3x3& C);
}; };
}
#endif #endif

2
lib/poems/mat4x4.cpp
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@ -21,6 +21,8 @@
#include <iostream> #include <iostream>
using namespace std; using namespace std;
using namespace POEMS;
Mat4x4::Mat4x4(){ Mat4x4::Mat4x4(){
numrows = numcols = 4; numrows = numcols = 4;

3
lib/poems/mat4x4.h
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@ -21,6 +21,7 @@
#include <iostream> #include <iostream>
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class Vect4; class Vect4;
class Matrix; class Matrix;
@ -64,5 +65,5 @@ public:
friend void FastMultT(Mat4x4& A, Mat4x4& B, Mat4x4& C); friend void FastMultT(Mat4x4& A, Mat4x4& B, Mat4x4& C);
friend void FastAssignT(Mat4x4& A, Mat4x4& C); friend void FastAssignT(Mat4x4& A, Mat4x4& C);
}; };
}
#endif #endif

2
lib/poems/mat6x6.cpp
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@ -21,6 +21,8 @@
#include <iostream> #include <iostream>
using namespace std; using namespace std;
using namespace POEMS;
Mat6x6::Mat6x6(){ Mat6x6::Mat6x6(){
numrows = numcols = 6; numrows = numcols = 6;

3
lib/poems/mat6x6.h
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@ -21,6 +21,7 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class Matrix; class Matrix;
class Mat3x3; class Mat3x3;
class Vect6; class Vect6;
@ -73,5 +74,5 @@ public:
friend void OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC); friend void OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC);
friend void OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI); friend void OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI);
}; };
}
#endif #endif

9
lib/poems/matrices.h
View File

@ -20,23 +20,14 @@
#define MATRICES_H #define MATRICES_H
#include "matrix.h" #include "matrix.h"
#include "colmatrix.h" #include "colmatrix.h"
#include "rowmatrix.h" #include "rowmatrix.h"
#include "mat3x3.h" #include "mat3x3.h"
#include "vect3.h" #include "vect3.h"
#include "mat4x4.h" #include "mat4x4.h"
#include "vect4.h" #include "vect4.h"
#include "mat6x6.h" #include "mat6x6.h"
#include "vect6.h" #include "vect6.h"
#include "colmatmap.h" #include "colmatmap.h"
#endif #endif

2
lib/poems/matrix.cpp
View File

@ -21,6 +21,8 @@
#include <cstdlib> #include <cstdlib>
using namespace std; using namespace std;
using namespace POEMS;
Matrix::Matrix(){ Matrix::Matrix(){
numrows = numcols = 0; numrows = numcols = 0;

4
lib/poems/matrix.h
View File

@ -22,6 +22,7 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class Mat3x3; class Mat3x3;
class Mat4x4; class Mat4x4;
class Mat6x6; class Mat6x6;
@ -73,7 +74,6 @@ public:
friend void FastMult(Mat6x6& A, Matrix& B, Matrix& C); friend void FastMult(Mat6x6& A, Matrix& B, Matrix& C);
friend void FastMult(Matrix& A, ColMatrix& B, Vect6& C); friend void FastMult(Matrix& A, ColMatrix& B, Vect6& C);
friend void FastMultT(Matrix& A, Matrix& B, Mat6x6& C); friend void FastMultT(Matrix& A, Matrix& B, Mat6x6& C);
}; };
}
#endif #endif

46
lib/poems/matrixfun.cpp
View File

@ -27,12 +27,14 @@
#include "virtualrowmatrix.h" #include "virtualrowmatrix.h"
using namespace std; using namespace std;
using namespace POEMS;
// //
// Create a new matrix // Create a new matrix
// //
VirtualMatrix* NewMatrix(int type){ VirtualMatrix* POEMS::NewMatrix(int type){
switch( MatrixType(type) ) switch( MatrixType(type) )
{ {
case MATRIX : return new Matrix; case MATRIX : return new Matrix;
@ -50,7 +52,7 @@ VirtualMatrix* NewMatrix(int type){
// Transpose // Transpose
// //
Matrix T(const VirtualMatrix& A){ Matrix POEMS::T(const VirtualMatrix& A){
int numrows = A.GetNumRows(); int numrows = A.GetNumRows();
int numcols = A.GetNumCols(); int numcols = A.GetNumCols();
Matrix C(numcols,numrows); Matrix C(numcols,numrows);
@ -60,7 +62,7 @@ Matrix T(const VirtualMatrix& A){
return C; return C;
} }
Mat3x3 T(const Mat3x3& A){ Mat3x3 POEMS::T(const Mat3x3& A){
Mat3x3 C; Mat3x3 C;
C.elements[0][0] = A.elements[0][0]; C.elements[0][0] = A.elements[0][0];
C.elements[1][1] = A.elements[1][1]; C.elements[1][1] = A.elements[1][1];
@ -76,7 +78,7 @@ Mat3x3 T(const Mat3x3& A){
return C; return C;
} }
Mat6x6 T(const Mat6x6& A){ Mat6x6 POEMS::T(const Mat6x6& A){
Mat6x6 C; Mat6x6 C;
int i,j; int i,j;
for(i=0;i<6;i++) for(i=0;i<6;i++)
@ -86,7 +88,7 @@ Mat6x6 T(const Mat6x6& A){
return C; return C;
} }
Matrix T(const Vect3& A){ Matrix POEMS::T(const Vect3& A){
Matrix C(1,3); Matrix C(1,3);
C.BasicSet(0,0,A.elements[0]); C.BasicSet(0,0,A.elements[0]);
C.BasicSet(0,1,A.elements[1]); C.BasicSet(0,1,A.elements[1]);
@ -95,7 +97,7 @@ Matrix T(const Vect3& A){
return C; return C;
} }
Matrix T(const Vect6& A){ Matrix POEMS::T(const Vect6& A){
Matrix C(1,6); Matrix C(1,6);
C.BasicSet(0,0,A.elements[0]); C.BasicSet(0,0,A.elements[0]);
C.BasicSet(0,1,A.elements[1]); C.BasicSet(0,1,A.elements[1]);
@ -107,7 +109,7 @@ Matrix T(const Vect6& A){
return C; return C;
} }
RowMatrix T(const VirtualColMatrix &A){ RowMatrix POEMS::T(const VirtualColMatrix &A){
int numele = A.GetNumRows(); int numele = A.GetNumRows();
RowMatrix C(numele); RowMatrix C(numele);
for(int i=0;i<numele;i++) for(int i=0;i<numele;i++)
@ -115,7 +117,7 @@ RowMatrix T(const VirtualColMatrix &A){
return C; return C;
} }
ColMatrix T(const VirtualRowMatrix &A){ ColMatrix POEMS::T(const VirtualRowMatrix &A){
int numele = A.GetNumCols(); int numele = A.GetNumCols();
ColMatrix C(numele); ColMatrix C(numele);
for(int i=0;i<numele;i++) for(int i=0;i<numele;i++)
@ -127,7 +129,7 @@ ColMatrix T(const VirtualRowMatrix &A){
// Symmetric Inverse // Symmetric Inverse
// //
Matrix SymInverse(Matrix &A){ Matrix POEMS::SymInverse(Matrix &A){
int r = A.GetNumRows(); int r = A.GetNumRows();
Matrix C(r,r); Matrix C(r,r);
Matrix LD(r,r); Matrix LD(r,r);
@ -139,7 +141,7 @@ Matrix SymInverse(Matrix &A){
return C; return C;
} }
Mat6x6 SymInverse(Mat6x6 &A){ Mat6x6 POEMS::SymInverse(Mat6x6 &A){
Mat6x6 C; Mat6x6 C;
Mat6x6 LD; Mat6x6 LD;
Mat6x6 I; Mat6x6 I;
@ -207,7 +209,7 @@ Mat6x6 Inverse(Mat6x6& A){
// overloaded addition // overloaded addition
// //
Matrix operator+ (const VirtualMatrix &A, const VirtualMatrix &B){ // addition Matrix POEMS::operator+ (const VirtualMatrix &A, const VirtualMatrix &B){ // addition
int Arows,Acols,Brows,Bcols; int Arows,Acols,Brows,Bcols;
Arows = A.GetNumRows(); Arows = A.GetNumRows();
Acols = A.GetNumCols(); Acols = A.GetNumCols();
@ -232,7 +234,7 @@ Matrix operator+ (const VirtualMatrix &A, const VirtualMatrix &B){ // addit
// overloaded subtraction // overloaded subtraction
// //
Matrix operator- (const VirtualMatrix &A, const VirtualMatrix &B){ // subtraction Matrix POEMS::operator- (const VirtualMatrix &A, const VirtualMatrix &B){ // subtraction
int Arows,Acols,Brows,Bcols; int Arows,Acols,Brows,Bcols;
Arows = A.GetNumRows(); Arows = A.GetNumRows();
Acols = A.GetNumCols(); Acols = A.GetNumCols();
@ -257,7 +259,7 @@ Matrix operator- (const VirtualMatrix &A, const VirtualMatrix &B){ // subtr
// overloaded matrix multiplication // overloaded matrix multiplication
// //
Matrix operator* (const VirtualMatrix &A, const VirtualMatrix &B){ // multiplication Matrix POEMS::operator* (const VirtualMatrix &A, const VirtualMatrix &B){ // multiplication
int Arows,Acols,Brows,Bcols; int Arows,Acols,Brows,Bcols;
Arows = A.GetNumRows(); Arows = A.GetNumRows();
Acols = A.GetNumCols(); Acols = A.GetNumCols();
@ -284,13 +286,13 @@ Matrix operator* (const VirtualMatrix &A, const VirtualMatrix &B){ // multi
// overloaded scalar multiplication // overloaded scalar multiplication
// //
Matrix operator* (const VirtualMatrix &A, double b){ // multiplication Matrix POEMS::operator* (const VirtualMatrix &A, double b){ // multiplication
Matrix C = A; Matrix C = A;
C *= b; C *= b;
return C; return C;
} }
Matrix operator* (double b, const VirtualMatrix &A){ // multiplication Matrix POEMS::operator* (double b, const VirtualMatrix &A){ // multiplication
Matrix C = A; Matrix C = A;
C *= b; C *= b;
return C; return C;
@ -300,7 +302,7 @@ Matrix operator* (double b, const VirtualMatrix &A){ // multiplication
// overloaded negative // overloaded negative
// //
Matrix operator- (const VirtualMatrix& A){ // negative Matrix POEMS::operator- (const VirtualMatrix& A){ // negative
int r = A.GetNumRows(); int r = A.GetNumRows();
int c = A.GetNumCols(); int c = A.GetNumCols();
Matrix C(r,c); Matrix C(r,c);
@ -316,7 +318,7 @@ Matrix operator- (const VirtualMatrix& A){ // negative
// Cross product (friend of Vect3) // Cross product (friend of Vect3)
// //
Vect3 Cross(Vect3& a, Vect3& b){ Vect3 POEMS::Cross(Vect3& a, Vect3& b){
return CrossMat(a)*b; return CrossMat(a)*b;
} }
@ -324,7 +326,7 @@ Vect3 Cross(Vect3& a, Vect3& b){
// Cross Matrix (friend of Vect3 & Mat3x3) // Cross Matrix (friend of Vect3 & Mat3x3)
// //
Mat3x3 CrossMat(Vect3& a){ Mat3x3 POEMS::CrossMat(Vect3& a){
Mat3x3 C; Mat3x3 C;
C.Zeros(); C.Zeros();
C.elements[0][1] = -a.elements[2]; C.elements[0][1] = -a.elements[2];
@ -341,7 +343,7 @@ Mat3x3 CrossMat(Vect3& a){
// Stack // Stack
// //
Matrix Stack(VirtualMatrix& A, VirtualMatrix& B){ Matrix POEMS::Stack(VirtualMatrix& A, VirtualMatrix& B){
int m,na,nb; int m,na,nb;
m = A.GetNumCols(); m = A.GetNumCols();
if( m != B.GetNumCols()){ if( m != B.GetNumCols()){
@ -370,7 +372,7 @@ Matrix Stack(VirtualMatrix& A, VirtualMatrix& B){
//Hstack //Hstack
Matrix HStack(VirtualMatrix& A, VirtualMatrix& B){ Matrix POEMS::HStack(VirtualMatrix& A, VirtualMatrix& B){
int m,na,nb; int m,na,nb;
m = A.GetNumRows(); m = A.GetNumRows();
if( m != B.GetNumRows()){ if( m != B.GetNumRows()){
@ -400,13 +402,13 @@ Matrix HStack(VirtualMatrix& A, VirtualMatrix& B){
// //
// //
void Set6DAngularVector(Vect6& v6, Vect3& v3){ void POEMS::Set6DAngularVector(Vect6& v6, Vect3& v3){
v6.elements[0] = v3.elements[0]; v6.elements[0] = v3.elements[0];
v6.elements[1] = v3.elements[1]; v6.elements[1] = v3.elements[1];
v6.elements[2] = v3.elements[2]; v6.elements[2] = v3.elements[2];
} }
void Set6DLinearVector(Vect6& v6, Vect3& v3){ void POEMS::Set6DLinearVector(Vect6& v6, Vect3& v3){
v6.elements[3] = v3.elements[0]; v6.elements[3] = v3.elements[0];
v6.elements[4] = v3.elements[1]; v6.elements[4] = v3.elements[1];
v6.elements[5] = v3.elements[2]; v6.elements[5] = v3.elements[2];

3
lib/poems/matrixfun.h
View File

@ -27,6 +27,7 @@
#include "vect3.h" #include "vect3.h"
#include "vect6.h" #include "vect6.h"
namespace POEMS {
class VirtualColMatrix; class VirtualColMatrix;
class VirtualMatrix; class VirtualMatrix;
class VirtualRowMatrix; class VirtualRowMatrix;
@ -80,5 +81,5 @@ Matrix HStack(VirtualMatrix& A, VirtualMatrix& B);
void Set6DAngularVector(Vect6& v6, Vect3& v3); void Set6DAngularVector(Vect6& v6, Vect3& v3);
void Set6DLinearVector(Vect6& v6, Vect3& v3); void Set6DLinearVector(Vect6& v6, Vect3& v3);
}
#endif #endif

2
lib/poems/mixedjoint.cpp
View File

@ -29,6 +29,8 @@
#include "vect3.h" #include "vect3.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace POEMS;
using namespace std;
MixedJoint::MixedJoint(){ MixedJoint::MixedJoint(){

4
lib/poems/mixedjoint.h
View File

@ -24,7 +24,7 @@
#include "matrix.h" #include "matrix.h"
#include "vect6.h" #include "vect6.h"
namespace POEMS {
class MixedJoint : public Joint{ class MixedJoint : public Joint{
Matrix const_sP; Matrix const_sP;
int numrots; int numrots;
@ -46,5 +46,5 @@ public:
void ForwardKinematics(); void ForwardKinematics();
void BackwardKinematics(); void BackwardKinematics();
}; };
}
#endif #endif

2
lib/poems/norm.cpp
View File

@ -24,6 +24,8 @@
#include "vect4.h" #include "vect4.h"
#include "vect6.h" #include "vect6.h"
using namespace POEMS;
double Magnitude(ColMatrix& A){ double Magnitude(ColMatrix& A){
double G; double G;
G = 0; G = 0;

3
lib/poems/norm.h
View File

@ -18,6 +18,7 @@
#ifndef NORM_H #ifndef NORM_H
#define NORM_H #define NORM_H
namespace POEMS {
class ColMatrix; class ColMatrix;
class RowMatrix; class RowMatrix;
class Vect3; class Vect3;
@ -29,5 +30,5 @@ double Magnitude(RowMatrix& A);
double Magnitude(Vect3& A); double Magnitude(Vect3& A);
double Magnitude(Vect4& A); double Magnitude(Vect4& A);
double Magnitude(Vect6& A); double Magnitude(Vect6& A);
}
#endif #endif

2
lib/poems/onbody.cpp
View File

@ -30,6 +30,8 @@
#include "colmatrix.h" #include "colmatrix.h"
using namespace std; using namespace std;
using namespace POEMS;
OnBody::OnBody(){ OnBody::OnBody(){

4
lib/poems/onbody.h
View File

@ -26,6 +26,7 @@
#include "mat3x3.h" #include "mat3x3.h"
#include "vect3.h" #include "vect3.h"
namespace POEMS {
class Body; class Body;
class ColMatrix; class ColMatrix;
class InertialFrame; class InertialFrame;
@ -78,7 +79,6 @@ class OnBody {
// friend classes // friend classes
friend class OnSolver; friend class OnSolver;
public: public:
OnBody(); OnBody();
~OnBody(); ~OnBody();
@ -97,5 +97,5 @@ public:
void LocalTriangularization(Vect3& Torque, Vect3& Force); void LocalTriangularization(Vect3& Torque, Vect3& Force);
void LocalForwardSubstitution(); void LocalForwardSubstitution();
}; };
}
#endif #endif

8
lib/poems/onfunctions.cpp
View File

@ -25,9 +25,11 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace std; using namespace std;
using namespace POEMS;
// friend of Vect3 & Vect6 // friend of Vect3 & Vect6
void OnPopulateSVect(Vect3& angular, Vect3& linear, Vect6& sV){ void POEMS::OnPopulateSVect(Vect3& angular, Vect3& linear, Vect6& sV){
sV.elements[0] = angular.elements[0]; sV.elements[0] = angular.elements[0];
sV.elements[1] = angular.elements[1]; sV.elements[1] = angular.elements[1];
sV.elements[2] = angular.elements[2]; sV.elements[2] = angular.elements[2];
@ -37,7 +39,7 @@ void OnPopulateSVect(Vect3& angular, Vect3& linear, Vect6& sV){
} }
// friend of Vect3, Mat3x3, & Mat6x6 // friend of Vect3, Mat3x3, & Mat6x6
void OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC){ void POEMS::OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC){
// the block diagonals // the block diagonals
// the gamma cross with transform // the gamma cross with transform
@ -65,7 +67,7 @@ void OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC){
} }
// friend of Mat3x3 & Mat6x6 // friend of Mat3x3 & Mat6x6
void OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI){ void POEMS::OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI){
sI(4,4)=mass; sI(5,5)=mass; sI(6,6)=mass; sI(4,4)=mass; sI(5,5)=mass; sI(6,6)=mass;
sI(1,1)=inertia(1,1); sI(1,2)=inertia(1,2); sI(1,3)=inertia(1,3); sI(1,1)=inertia(1,1); sI(1,2)=inertia(1,2); sI(1,3)=inertia(1,3);

3
lib/poems/onfunctions.h
View File

@ -18,6 +18,7 @@
#ifndef ONFUNCTIONS_H #ifndef ONFUNCTIONS_H
#define ONFUNCTIONS_H #define ONFUNCTIONS_H
namespace POEMS {
class Mat3x3; class Mat3x3;
class Mat6x6; class Mat6x6;
class Vect3; class Vect3;
@ -30,5 +31,5 @@ void OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI);
void Create_Map(int MM); void Create_Map(int MM);
int ICELL(int IX,int IY,int IZ, int MM); int ICELL(int IX,int IY,int IZ, int MM);
}
#endif #endif

2
lib/poems/onsolver.cpp
View File

@ -33,6 +33,8 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace std; using namespace std;
using namespace POEMS;
OnSolver::OnSolver(){ OnSolver::OnSolver(){
numbodies = 0; numbodies = 0;

5
lib/poems/onsolver.h
View File

@ -22,11 +22,10 @@
#include "solver.h" #include "solver.h"
#include "onbody.h" #include "onbody.h"
namespace POEMS {
class ColMatrix; class ColMatrix;
class Matrix; class Matrix;
class OnSolver : public Solver { class OnSolver : public Solver {
OnBody inertialframe; OnBody inertialframe;
int numbodies; int numbodies;
@ -49,5 +48,5 @@ public:
void CreateModel(); void CreateModel();
void Solve(double time, Matrix& FF); void Solve(double time, Matrix& FF);
}; };
}
#endif #endif

2
lib/poems/particle.cpp
View File

@ -18,6 +18,8 @@
#include "particle.h" #include "particle.h"
using namespace POEMS;
Particle::Particle(){ Particle::Particle(){
} }

4
lib/poems/particle.h
View File

@ -23,7 +23,7 @@
#include "body.h" #include "body.h"
namespace POEMS {
class Particle : public Body { class Particle : public Body {
public: public:
Particle(); Particle();
@ -32,5 +32,5 @@ public:
bool ReadInBodyData(std::istream& in); bool ReadInBodyData(std::istream& in);
void WriteOutBodyData(std::ostream& out); void WriteOutBodyData(std::ostream& out);
}; };
}
#endif #endif

24
lib/poems/poemslist.h
View File

@ -21,8 +21,7 @@
#include <iostream> #include <iostream>
#include <cstdlib> #include <cstdlib>
using namespace std; namespace POEMS {
template<class T> class ListElement{ template<class T> class ListElement{
public: public:
ListElement<T>* prev; ListElement<T>* prev;
@ -110,11 +109,11 @@ template<class S> ListElement<S>* List<S>::GetTailElement(){
template<class S> void List<S>::Remove(ListElement<S>* ele){ template<class S> void List<S>::Remove(ListElement<S>* ele){
if(!ele){ if(!ele){
cerr << "ERROR: ListElement to be removed not defined" << endl; std::cerr << "ERROR: ListElement to be removed not defined" << std::endl;
exit(0); exit(0);
} }
if(!numelements){ if(!numelements){
cerr << "ERROR: List is empty" << endl; std::cerr << "ERROR: List is empty" << std::endl;
exit(0); exit(0);
} }
@ -135,7 +134,7 @@ template<class S> void List<S>::Remove(ListElement<S>* ele){
template<class S> ListElement<S>* List<S>::Append(S* v){ template<class S> ListElement<S>* List<S>::Append(S* v){
if(!v){ if(!v){
cerr << "ERROR: cannot add null Body to list" << endl; std::cerr << "ERROR: cannot add null Body to list" << std::endl;
exit(0); exit(0);
} }
@ -160,7 +159,7 @@ template<class S> ListElement<S>* List<S>::Append(S* v){
template<class S> ListElement<S>* List<S>::Prepend(S* v){ template<class S> ListElement<S>* List<S>::Prepend(S* v){
if(!v){ if(!v){
cerr << "ERROR: cannot add null Body to list" << endl; std::cerr << "ERROR: cannot add null Body to list" << std::endl;
exit(0); exit(0);
} }
@ -190,7 +189,7 @@ template<class S> S** List<S>::CreateArray(){
template<class S> S* List<S>::operator()(int id){ template<class S> S* List<S>::operator()(int id){
if(id >= numelements){ if(id >= numelements){
cerr << "ERROR: subscript out of bounds" << endl; std::cerr << "ERROR: subscript out of bounds" << std::endl;
exit(0); exit(0);
} }
@ -214,16 +213,15 @@ template<class S> void List<S>::RemoveElementAndDeleteValue(ListElement<S>* ele)
} }
template<class S> void List<S>::PrintList(){ template<class S> void List<S>::PrintList(){
cout<<"Printing List "<<endl; std::cout << "Printing List " << std::endl;
ListElement<S>* ele = head; ListElement<S>* ele = head;
cout<<*(ele->value)<<" "; std::cout << *(ele->value) << " ";
ele = ele->next; ele = ele->next;
for(int k =2; k<numelements; k++){ for(int k =2; k<numelements; k++){
cout<<*(ele->value)<<" "; std::cout << *(ele->value) << " ";
ele = ele->next; ele = ele->next;
} }
cout<<*(ele->value)<<endl; std::cout << *(ele->value) << std::endl;
}
} }
#endif #endif

11
lib/poems/poemsnodelib.h
View File

@ -20,9 +20,7 @@
#include <iostream> #include <iostream>
using namespace std; namespace POEMS {
TreeNode *GetTreeNode(int item,TreeNode *lptr = NULL,TreeNode *rptr =NULL); TreeNode *GetTreeNode(int item,TreeNode *lptr = NULL,TreeNode *rptr =NULL);
void FreeTreeNode(TreeNode *p); void FreeTreeNode(TreeNode *p);
@ -81,7 +79,7 @@ TreeNode *GetTreeNode(int item,TreeNode *lptr,TreeNode *rptr)
// if insufficient memory, terminatewith an error message // if insufficient memory, terminatewith an error message
if (p == NULL) if (p == NULL)
{ {
cerr << "Memory allocation failure!\n"; std::cerr << "Memory allocation failure!\n";
exit(1); exit(1);
} }
@ -140,7 +138,7 @@ void IndentBlanks(int num)
// const int indentblock = 6; // const int indentblock = 6;
for(int i = 0; i < num; i++) for(int i = 0; i < num; i++)
cout << " "; std::cout << " ";
} }
void PrintTree (TreeNode *t, int level) void PrintTree (TreeNode *t, int level)
@ -153,10 +151,11 @@ void PrintTree (TreeNode *t, int level)
PrintTree(t->Right(),level + 1); PrintTree(t->Right(),level + 1);
// indent to current level; output node data // indent to current level; output node data
IndentBlanks(indentUnit*level); IndentBlanks(indentUnit*level);
cout << t->GetData() << endl; std::cout << t->GetData() << std::endl;
// print left branch of tree t // print left branch of tree t
PrintTree(t->Left(),level + 1); PrintTree(t->Left(),level + 1);
} }
} }
}
#endif #endif

2
lib/poems/poemsobject.cpp
View File

@ -19,6 +19,8 @@
#include "poemsobject.h" #include "poemsobject.h"
#include <cstring> #include <cstring>
using namespace POEMS;
POEMSObject::POEMSObject(){ POEMSObject::POEMSObject(){
name = 0; name = 0;
ChangeName((const char*)"unnamed"); ChangeName((const char*)"unnamed");

4
lib/poems/poemsobject.h
View File

@ -19,7 +19,7 @@
#ifndef POEMSOBJECT_H #ifndef POEMSOBJECT_H
#define POEMSOBJECT_H #define POEMSOBJECT_H
namespace POEMS {
class POEMSObject { class POEMSObject {
char* name; char* name;
int ID; int ID;
@ -31,5 +31,5 @@ public:
int GetID(); int GetID();
void SetID(int id); void SetID(int id);
}; };
}
#endif #endif

4
lib/poems/poemstree.h
View File

@ -21,7 +21,7 @@
#include "poemstreenode.h" #include "poemstreenode.h"
#include "poemsnodelib.h" #include "poemsnodelib.h"
namespace POEMS {
// constants to indicate the balance factor of a node // constants to indicate the balance factor of a node
const int leftheavy = -1; const int leftheavy = -1;
const int balanced = 0; const int balanced = 0;
@ -609,5 +609,5 @@ void Tree::ClearList(void)
delete current; delete current;
size = 0; size = 0;
} }
}
#endif #endif

2
lib/poems/poemstreenode.cpp
View File

@ -17,6 +17,8 @@
#include "poemstreenode.h" #include "poemstreenode.h"
using namespace POEMS;
// constructor; initialize the data and pointer fields // constructor; initialize the data and pointer fields
// The pointer value NULL assigns a empty subtree // The pointer value NULL assigns a empty subtree
TreeNode::TreeNode (const int & item, TreeNode *lptr,TreeNode *rptr, TreeNode::TreeNode (const int & item, TreeNode *lptr,TreeNode *rptr,

3
lib/poems/poemstreenode.h
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@ -18,6 +18,7 @@
#ifndef TREENODE_H #ifndef TREENODE_H
#define TREENODE_H #define TREENODE_H
namespace POEMS {
// declares a tree node object for a binary tree // declares a tree node object for a binary tree
class TreeNode{ class TreeNode{
@ -41,6 +42,6 @@ public:
TreeNode(const int &item, TreeNode *lptr, TreeNode *rptr, int balfac = 0); TreeNode(const int &item, TreeNode *lptr, TreeNode *rptr, int balfac = 0);
//friend class DCASolver; //friend class DCASolver;
}; };
}
#endif #endif

4
lib/poems/point.cpp
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@ -20,6 +20,8 @@
#include "point.h" #include "point.h"
#include "vect3.h" #include "vect3.h"
using namespace POEMS;
Point::Point(){ Point::Point(){
position.Zeros(); position.Zeros();
} }
@ -35,7 +37,7 @@ void Point::WriteOut(std::ostream& out){
WriteOutPointData(out); WriteOutPointData(out);
} }
Point* NewPoint(int type){ Point* POEMS::NewPoint(int type){
switch( PointType(type) ) switch( PointType(type) )
{ {
case FIXEDPOINT : // A Fixed Point case FIXEDPOINT : // A Fixed Point

4
lib/poems/point.h
View File

@ -22,7 +22,7 @@
#include "poemsobject.h" #include "poemsobject.h"
#include "vect3.h" #include "vect3.h"
namespace POEMS {
// emumerated type // emumerated type
enum PointType { enum PointType {
FIXEDPOINT = 0 FIXEDPOINT = 0
@ -45,5 +45,5 @@ public:
// global point functions // global point functions
Point* NewPoint(int type); Point* NewPoint(int type);
}
#endif #endif

2
lib/poems/prismaticjoint.cpp
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@ -25,6 +25,8 @@
#include "mat3x3.h" #include "mat3x3.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace POEMS;
PrismaticJoint::PrismaticJoint(){ PrismaticJoint::PrismaticJoint(){
q.Dim(1); q.Dim(1);
qdot.Dim(1); qdot.Dim(1);

5
lib/poems/prismaticjoint.h
View File

@ -24,8 +24,7 @@
#include "vect3.h" #include "vect3.h"
#include "matrix.h" #include "matrix.h"
namespace POEMS {
class PrismaticJoint : public Joint { class PrismaticJoint : public Joint {
Vect3 axis_pk; // unit vector in body1 basis Vect3 axis_pk; // unit vector in body1 basis
Vect3 axis_k; // unit vector in body2 basis Vect3 axis_k; // unit vector in body2 basis
@ -45,5 +44,5 @@ public:
void ForwardKinematics(); void ForwardKinematics();
void BackwardKinematics(); void BackwardKinematics();
}; };
}
#endif #endif

2
lib/poems/revolutejoint.cpp
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@ -25,6 +25,8 @@
#include "mat3x3.h" #include "mat3x3.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace POEMS;
RevoluteJoint::RevoluteJoint(){ RevoluteJoint::RevoluteJoint(){
DimQandU(1); DimQandU(1);
Vect3 axis; Vect3 axis;

3
lib/poems/revolutejoint.h
View File

@ -23,6 +23,7 @@
#include "vect3.h" #include "vect3.h"
#include "matrix.h" #include "matrix.h"
namespace POEMS {
class VirtualMatrix; class VirtualMatrix;
class RevoluteJoint : public Joint { class RevoluteJoint : public Joint {
@ -44,5 +45,5 @@ public:
void ForwardKinematics(); void ForwardKinematics();
void BackwardKinematics(); void BackwardKinematics();
}; };
}
#endif #endif

2
lib/poems/rigidbody.cpp
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@ -20,6 +20,8 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace std; using namespace std;
using namespace POEMS;
RigidBody::RigidBody(){ RigidBody::RigidBody(){
} }

3
lib/poems/rigidbody.h
View File

@ -22,6 +22,7 @@
#include "body.h" #include "body.h"
namespace POEMS {
class RigidBody : public Body { class RigidBody : public Body {
public: public:
RigidBody(); RigidBody();
@ -30,5 +31,5 @@ public:
bool ReadInBodyData(std::istream& in); bool ReadInBodyData(std::istream& in);
void WriteOutBodyData(std::ostream& out); void WriteOutBodyData(std::ostream& out);
}; };
}
#endif #endif

2
lib/poems/rowmatrix.cpp
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@ -21,6 +21,8 @@
#include <cstdlib> #include <cstdlib>
using namespace std; using namespace std;
using namespace POEMS;
RowMatrix::RowMatrix(){ RowMatrix::RowMatrix(){
numcols = 0; numcols = 0;

3
lib/poems/rowmatrix.h
View File

@ -24,6 +24,7 @@
#include "virtualrowmatrix.h" #include "virtualrowmatrix.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class RowMatrix : public VirtualRowMatrix { class RowMatrix : public VirtualRowMatrix {
double* elements; double* elements;
public: public:
@ -52,5 +53,5 @@ public:
RowMatrix& operator=(const VirtualMatrix& A); // overloaded = RowMatrix& operator=(const VirtualMatrix& A); // overloaded =
RowMatrix& operator*=(double b); RowMatrix& operator*=(double b);
}; };
}
#endif #endif

2
lib/poems/solver.cpp
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@ -20,6 +20,8 @@
#include "system.h" #include "system.h"
#include "onsolver.h" #include "onsolver.h"
using namespace POEMS;
Solver::Solver(){ Solver::Solver(){
} }

3
lib/poems/solver.h
View File

@ -21,6 +21,7 @@
#include "colmatmap.h" #include "colmatmap.h"
#include "defines.h" #include "defines.h"
namespace POEMS {
class System; class System;
class Matrix; class Matrix;
@ -55,5 +56,5 @@ public:
ColMatMap* GetStateDerivative(); ColMatMap* GetStateDerivative();
ColMatMap* GetStateDerivativeDerivative(); ColMatMap* GetStateDerivativeDerivative();
}; };
}
#endif #endif

2
lib/poems/sphericaljoint.cpp
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@ -30,6 +30,8 @@
#include "vect3.h" #include "vect3.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
using namespace std;
using namespace POEMS;
SphericalJoint::SphericalJoint(){ SphericalJoint::SphericalJoint(){
DimQandU(4,3); DimQandU(4,3);

3
lib/poems/sphericaljoint.h
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@ -22,6 +22,7 @@
#include "joint.h" #include "joint.h"
#include "matrix.h" #include "matrix.h"
namespace POEMS {
class SphericalJoint : public Joint { class SphericalJoint : public Joint {
Matrix const_sP; Matrix const_sP;
public: public:
@ -38,5 +39,5 @@ public:
void ForwardKinematics(); void ForwardKinematics();
void BackwardKinematics(); void BackwardKinematics();
}; };
}
#endif #endif

5
lib/poems/system.cpp
View File

@ -36,8 +36,9 @@
#include "vect3.h" #include "vect3.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
class Point; namespace POEMS { class Point; }
using namespace std;
using namespace POEMS;
System::System(){ System::System(){
mappings = NULL; mappings = NULL;

3
lib/poems/system.h
View File

@ -22,6 +22,7 @@
#include <iostream> #include <iostream>
#include "poemslist.h" #include "poemslist.h"
namespace POEMS {
class Body; class Body;
class Joint; class Joint;
@ -65,5 +66,5 @@
void Create_DegenerateSystem(int& nfree, int*freelist, double *&masstotal, double **&inertia, double **&xcm, double **&vcm, double **&omega, double **&ex_space, double **&ey_space, double **&ez_space); void Create_DegenerateSystem(int& nfree, int*freelist, double *&masstotal, double **&inertia, double **&xcm, double **&vcm, double **&omega, double **&ex_space, double **&ey_space, double **&ez_space);
}; };
}
#endif #endif

2
lib/poems/vect3.cpp
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@ -21,6 +21,8 @@
#include <iostream> #include <iostream>
using namespace std; using namespace std;
using namespace POEMS;
Vect3::Vect3(){ Vect3::Vect3(){
numrows = 3; numcols = 1; numrows = 3; numcols = 1;

4
lib/poems/vect3.h
View File

@ -23,6 +23,7 @@
#include "virtualcolmatrix.h" #include "virtualcolmatrix.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class Matrix; class Matrix;
class Mat3x3; class Mat3x3;
class Mat6x6; class Mat6x6;
@ -82,7 +83,6 @@ public:
friend void FastMult(Mat3x3& A, ColMatrix& B, Vect3& C); friend void FastMult(Mat3x3& A, ColMatrix& B, Vect3& C);
friend void FastAssign(ColMatrix&A, Vect3& C); friend void FastAssign(ColMatrix&A, Vect3& C);
friend void FastMult(Mat3x3& A, Vect3& B, ColMatrix& C); friend void FastMult(Mat3x3& A, Vect3& B, ColMatrix& C);
}; };
}
#endif #endif

2
lib/poems/vect4.cpp
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@ -21,6 +21,8 @@
#include <iostream> #include <iostream>
using namespace std; using namespace std;
using namespace POEMS;
Vect4::Vect4(){ Vect4::Vect4(){
numrows = 4; numcols = 1; numrows = 4; numcols = 1;

3
lib/poems/vect4.h
View File

@ -23,6 +23,7 @@
#include "virtualcolmatrix.h" #include "virtualcolmatrix.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class Matrix; class Matrix;
class Mat4x4; class Mat4x4;
@ -69,5 +70,5 @@ public:
friend void FastAdd(Vect4& A, Vect4& B, Vect4& C); friend void FastAdd(Vect4& A, Vect4& B, Vect4& C);
friend void FastSubt(Vect4& A, Vect4& B, Vect4& C); friend void FastSubt(Vect4& A, Vect4& B, Vect4& C);
}; };
}
#endif #endif

2
lib/poems/vect6.cpp
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@ -21,6 +21,8 @@
#include <iostream> #include <iostream>
using namespace std; using namespace std;
using namespace POEMS;
Vect6::Vect6(){ Vect6::Vect6(){
numrows = 6; numcols = 1; numrows = 6; numcols = 1;

3
lib/poems/vect6.h
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@ -23,6 +23,7 @@
#include "virtualcolmatrix.h" #include "virtualcolmatrix.h"
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class Matrix; class Matrix;
class Mat6x6; class Mat6x6;
class ColMatrix; class ColMatrix;
@ -69,5 +70,5 @@ public:
friend void OnPopulateSVect(Vect3& angular, Vect3& linear, Vect6& sV); friend void OnPopulateSVect(Vect3& angular, Vect3& linear, Vect6& sV);
}; };
}
#endif #endif

2
lib/poems/virtualcolmatrix.cpp
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@ -20,6 +20,8 @@
#include <cstdlib> #include <cstdlib>
using namespace std; using namespace std;
using namespace POEMS;
VirtualColMatrix::VirtualColMatrix(){ VirtualColMatrix::VirtualColMatrix(){
numcols = 1; numcols = 1;

4
lib/poems/virtualcolmatrix.h
View File

@ -21,7 +21,7 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class VirtualColMatrix : public VirtualMatrix { class VirtualColMatrix : public VirtualMatrix {
public: public:
VirtualColMatrix(); VirtualColMatrix();
@ -41,5 +41,5 @@ public:
virtual void BasicIncrement_1int(int i, double value) = 0; virtual void BasicIncrement_1int(int i, double value) = 0;
}; };
}
#endif #endif

6
lib/poems/virtualmatrix.cpp
View File

@ -21,6 +21,8 @@
#include <cstdlib> #include <cstdlib>
using namespace std; using namespace std;
using namespace POEMS;
VirtualMatrix::VirtualMatrix(){ VirtualMatrix::VirtualMatrix(){
numrows = numcols = 0; numrows = numcols = 0;
@ -140,14 +142,14 @@ istream& VirtualMatrix::ReadData(istream& c){
// operators and functions // operators and functions
// //
ostream& operator<< (ostream& c, const VirtualMatrix& A){ //output ostream& POEMS::operator<< (ostream& c, const VirtualMatrix& A){ //output
c << A.GetType() << ' '; c << A.GetType() << ' ';
A.WriteData(c); A.WriteData(c);
c << endl; c << endl;
return c; return c;
} }
istream& operator>> (istream& c, VirtualMatrix& A){ //input istream& POEMS::operator>> (istream& c, VirtualMatrix& A){ //input
VirtualMatrix* vm; VirtualMatrix* vm;
int matrixtype; int matrixtype;
c >> matrixtype; c >> matrixtype;

3
lib/poems/virtualmatrix.h
View File

@ -20,6 +20,7 @@
#define VIRTUALMATRIX_H #define VIRTUALMATRIX_H
#include <iostream> #include <iostream>
namespace POEMS {
enum MatrixType { enum MatrixType {
MATRIX = 0, MATRIX = 0,
COLMATRIX = 1, COLMATRIX = 1,
@ -83,5 +84,5 @@ protected:
// overloaded operators // overloaded operators
std::ostream& operator<< (std::ostream& c, const VirtualMatrix& A); // output std::ostream& operator<< (std::ostream& c, const VirtualMatrix& A); // output
std::istream& operator>> (std::istream& c, VirtualMatrix& A); // input std::istream& operator>> (std::istream& c, VirtualMatrix& A); // input
}
#endif #endif

2
lib/poems/virtualrowmatrix.cpp
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@ -21,6 +21,8 @@
#include <cstdlib> #include <cstdlib>
using namespace std; using namespace std;
using namespace POEMS;
VirtualRowMatrix::VirtualRowMatrix(){ VirtualRowMatrix::VirtualRowMatrix(){
numrows = 1; numrows = 1;

3
lib/poems/virtualrowmatrix.h
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@ -21,6 +21,7 @@
#include "virtualmatrix.h" #include "virtualmatrix.h"
namespace POEMS {
class VirtualRowMatrix : public VirtualMatrix { class VirtualRowMatrix : public VirtualMatrix {
public: public:
VirtualRowMatrix(); VirtualRowMatrix();
@ -39,5 +40,5 @@ public:
virtual void BasicSet_1int(int i, double value) = 0; virtual void BasicSet_1int(int i, double value) = 0;
virtual void BasicIncrement_1int(int i, double value) = 0; virtual void BasicIncrement_1int(int i, double value) = 0;
}; };
}
#endif #endif

2
lib/poems/workspace.cpp
View File

@ -38,6 +38,8 @@
using namespace std; using namespace std;
using namespace POEMS;
void Workspace::allocateNewSystem() { void Workspace::allocateNewSystem() {
currentIndex++; currentIndex++;

3
lib/poems/workspace.h
View File

@ -19,6 +19,7 @@
#ifndef WORKSPACE_H #ifndef WORKSPACE_H
#define WORKSPACE_H #define WORKSPACE_H
namespace POEMS {
class System; class System;
class Solver; class Solver;
@ -75,5 +76,5 @@ public:
private: private:
void allocateNewSystem(); //helper function to handle vector resizing and such for the array of system pointers void allocateNewSystem(); //helper function to handle vector resizing and such for the array of system pointers
}; };
}
#endif #endif

4
src/POEMS/fix_poems.cpp
View File

@ -20,7 +20,6 @@
#include "fix_poems.h" #include "fix_poems.h"
#include <mpi.h> #include <mpi.h>
#include <cmath> #include <cmath>
#include <cstdio>
#include <cstring> #include <cstring>
#include <cstdlib> #include <cstdlib>
#include "workspace.h" #include "workspace.h"
@ -30,7 +29,6 @@
#include "respa.h" #include "respa.h"
#include "modify.h" #include "modify.h"
#include "force.h" #include "force.h"
#include "output.h"
#include "group.h" #include "group.h"
#include "comm.h" #include "comm.h"
#include "citeme.h" #include "citeme.h"
@ -265,7 +263,7 @@ FixPOEMS::FixPOEMS(LAMMPS *lmp, int narg, char **arg) :
// create POEMS instance // create POEMS instance
poems = new Workspace; poems = new POEMS::Workspace;
// compute per body forces and torques inside final_integrate() by default // compute per body forces and torques inside final_integrate() by default

3
src/POEMS/fix_poems.h
View File

@ -22,6 +22,7 @@ FixStyle(poems,FixPOEMS)
#include "fix.h" #include "fix.h"
namespace POEMS { class Workspace; }
namespace LAMMPS_NS { namespace LAMMPS_NS {
class FixPOEMS : public Fix { class FixPOEMS : public Fix {
@ -94,7 +95,7 @@ class FixPOEMS : public Fix {
// POEMS object // POEMS object
class Workspace *poems; POEMS::Workspace *poems;
// internal class functions // internal class functions