oimat.h

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#ifndef OIMAT_H
#define OIMAT_H

#include <vector>
#include <stdexcept>

#include "global.h"

namespace oi{
namespace math{

class LinearAlgebra;
class OiVec;

using namespace std;

struct OI_MATH_EXPORT Rotation{

    enum RotationAxis{
        X_AXIS,
        Y_AXIS,
        Z_AXIS
    };

    Rotation(double angle, RotationAxis axis){
        this->angle = angle;
        this->axis = axis;
    }

    RotationAxis axis;
    double angle;

};

class OI_MATH_EXPORT RotationChain{

public:
    void clear(){ this->myRotations.clear(); }
    void appendRotation(Rotation r){ this->myRotations.push_back(r); }
    int getRotationCount(){ return this->myRotations.size(); }
    Rotation getRotationAt(int index){ return this->myRotations.at(index); }

private:
    vector<Rotation> myRotations;

};

class OI_MATH_EXPORT OiMat
{
public:
    OiMat();
    OiMat(const int &rows, const int &cols);

    static LinearAlgebra *myLinearAlgebra;

private:
    vector<double> values;
    int rows, cols;

public:

    double getAt(const int &row, const int &col) const;
    unsigned int getRowCount() const;
    unsigned int getColCount() const;
    void getRow(OiVec &result, const int &row) const;
    void getCol(OiVec &result, const int &col) const;

    void replace(const OiMat &m);
    void setAt(const int &row, const int &col, const double &value);
    void diag(vector<double> diagVec);
    void setRow(const int &index, const OiVec &row);
    void setCol(const int &index, const OiVec &col);

    OiMat& operator=(const OiMat &m);
    OiMat operator+(const OiMat &m) const;
    OiMat operator-(const OiMat &m) const;
    OiMat& operator+=(const OiMat &m);
    OiMat& operator-=(const OiMat &m);
    OiMat operator*(const OiMat &m) const;
    OiMat operator*(const double &value) const;
    OiVec operator*(const OiVec &v) const;
    friend OiMat operator*(const double &value, const OiMat &m){
        OiMat result(m.getRowCount(), m.getColCount());
        OiMat::mult(result, value, m);
        return result;
    }
    friend OiMat operator/(const OiMat &m, const double &value){
        OiMat result(m.getRowCount(), m.getColCount());
        OiMat::mult(result, (1.0 / value), m);
        return result;
    }

    OiMat t() const;
    OiMat inv() const;

    double det() const;

    void svd(OiMat &u, OiVec &d, OiMat &v) const;

    static bool solve(OiVec &x, const OiMat &A, const OiVec &b);
    static bool solve(OiMat &X, const OiMat &A, const OiMat &B);

    static OiMat getRotationMatrix(double angle, OiVec axis);
    static OiMat getRotationMatrix(double angle, Rotation::RotationAxis axis);
    static OiMat getRotationMatrix(RotationChain rotationChain);

private:
    static void mult(OiMat &result, const double &value, const OiMat &m);

};

}
}

#endif // OIMAT_H