Danny Robson
52f53caee5
HARD vs SOFT assertions were never very well defined or supported. Currently they just imply a level of functionality that isn't present; it's better to remove them instead of expending the effort at this point.
534 lines
14 KiB
C++
534 lines
14 KiB
C++
/*
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* This file is part of libgim.
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*
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* libgim is free software: you can redistribute it and/or modify it under the
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* terms of the GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option) any later
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* version.
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*
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* libgim is distributed in the hope that it will be useful, but WITHOUT ANY
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* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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* FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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* details.
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*
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* You should have received a copy of the GNU General Public License
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* along with libgim. If not, see <http://www.gnu.org/licenses/>.
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*
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* Copyright 2010 Danny Robson <danny@nerdcruft.net>
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*/
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#include "matrix.hpp"
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#include "debug.hpp"
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#include "range.hpp"
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#include "maths.hpp"
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#include <algorithm>
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using namespace util;
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using namespace maths;
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matrix::matrix (size_t _rows, size_t _columns):
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m_rows (_rows),
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m_columns (_columns),
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m_data (new double[_rows * _columns])
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{
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}
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matrix::matrix (size_t _rows,
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size_t _columns,
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const std::initializer_list <double> &_data):
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m_rows (_rows),
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m_columns (_columns)
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{
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if (size () != _data.size ())
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throw std::runtime_error ("element and initializer size differs");
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CHECK_EQ (m_rows * m_columns, _data.size());
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m_data.reset (new double[size ()]);
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std::copy (_data.begin (), _data.end (), m_data.get ());
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}
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matrix::matrix (const std::initializer_list <vector> &rhs):
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m_rows (rhs.size ()),
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m_columns (rhs.begin()->size ()),
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m_data (new double[m_rows * m_columns])
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{
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double *row_cursor = m_data.get ();
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for (auto i = rhs.begin (); i != rhs.end (); ++i) {
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CHECK (i->size () == m_columns);
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std::copy (i->data (), i->data () + i->size (), row_cursor);
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row_cursor += m_columns;
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}
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}
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matrix::matrix (const matrix &rhs):
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m_rows (rhs.m_rows),
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m_columns (rhs.m_columns)
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{
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m_data.reset (new double [m_rows * m_columns]);
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std::copy (rhs.m_data.get (), rhs.m_data.get () + m_rows * m_columns, m_data.get ());
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}
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matrix::matrix (matrix &&rhs):
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m_rows (rhs.m_rows),
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m_columns (rhs.m_columns),
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m_data (std::move (rhs.m_data))
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{
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}
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matrix::~matrix()
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{ ; }
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void
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matrix::sanity (void) const {
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CHECK (m_rows > 0);
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CHECK (m_columns > 0);
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CHECK (m_data != nullptr);
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}
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const double *
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matrix::operator [] (unsigned int row) const {
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CHECK_LT (row, m_rows);
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return m_data.get () + row * m_columns;
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}
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double *
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matrix::operator [] (unsigned int row) {
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CHECK_LT (row, m_rows);
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return m_data.get () + row * m_columns;
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}
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const double *
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matrix::data (void) const
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{ return m_data.get (); }
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matrix&
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matrix::operator =(const matrix& rhs) {
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if (size () != rhs.size ()) {
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m_data.reset (new double [rhs.rows () * rhs.columns ()]);
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}
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m_rows = rhs.m_rows;
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m_columns = rhs.m_columns;
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std::copy (rhs.m_data.get (), rhs.m_data.get () + m_rows * m_columns, m_data.get ());
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return *this;
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}
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matrix
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matrix::operator * (double scalar) const {
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matrix val (*this);
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for (unsigned int i = 0; i < m_rows; ++i)
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for (unsigned int j = 0; j < m_columns; ++j)
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val[i][j] *= scalar;
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return val;
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}
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matrix&
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matrix::operator *=(double scalar) {
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for (unsigned int i = 0; i < m_rows; ++i)
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for (unsigned int j = 0; j < m_columns; ++j)
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(*this)[i][j] *= scalar;
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return *this;
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}
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matrix&
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matrix::operator /= (double scalar)
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{ return (*this) *= (1.0 / scalar); }
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matrix
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matrix::operator + (double scalar) const {
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matrix val (*this);
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for (unsigned int i = 0; i < m_rows; ++i)
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for (unsigned int j = 0; j < m_columns; ++j)
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val[i][j] += scalar;
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return val;
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}
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matrix&
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matrix::operator +=(double scalar) {
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for (unsigned int i = 0; i < m_rows; ++i)
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for (unsigned int j = 0; j < m_columns; ++j)
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(*this)[i][j] += scalar;
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return *this;
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}
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matrix
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matrix::operator * (const matrix& rhs) const {
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if (m_columns != rhs.rows ())
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throw std::invalid_argument ("matrices size mismatch in multiplication");
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matrix val (matrix::zeroes (m_rows, rhs.columns ()));
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for (unsigned int i = 0; i < m_rows; ++i)
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for (unsigned int j = 0; j < rhs.columns (); ++j)
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for (unsigned int k = 0; k < m_columns; ++k)
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val[i][j] += (*this)[i][k] * rhs[k][j];
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return val;
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}
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matrix&
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matrix::operator *=(const matrix& rhs)
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{ return *this = *this * rhs; }
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bool
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matrix::operator ==(const matrix& rhs) const {
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if (rhs.rows () != rows () ||
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rhs.columns () != columns ())
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return false;
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return std::equal (m_data.get (), m_data.get () + size (), rhs.data ());
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}
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//matrix transpose (void) const { ; }
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size_t
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matrix::rows (void) const
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{ return m_rows; }
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size_t
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matrix::columns (void) const
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{ return m_columns; }
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size_t
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matrix::size (void) const
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{ return rows () * columns (); }
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bool
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matrix::is_square (void) const
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{ return m_rows == m_columns; }
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bool
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matrix::is_magic (void) const {
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if (!is_square ())
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return false;
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unsigned int expected = m_rows * (m_rows * m_rows + 1) / 2;
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range<double> numbers (1, m_rows * m_rows);
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for (unsigned int i = 0; i < m_rows; ++i) {
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unsigned int sum1 = 0, sum2 = 0;
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for (unsigned int j = 0; j < m_columns; ++j) {
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double a = (*this)[i][j],
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b = (*this)[j][i];
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if (!exactly_equal (static_cast<uintmax_t> (a), a) ||
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!exactly_equal (static_cast<uintmax_t> (b), b))
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return false;
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if (!numbers.contains (a) ||
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!numbers.contains (b))
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return false;
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sum1 += static_cast<unsigned> (a);
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sum2 += static_cast<unsigned> (b);
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}
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if (sum1 != expected || sum2 != expected)
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return false;
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}
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return true;
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}
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bool
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matrix::is_homogeneous (void) const {
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if (m_rows != m_columns)
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return false;
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// Check the final row is all zeroes
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for (unsigned int i = 0; i < m_columns - 1; ++i) {
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if (!almost_equal ((*this)[m_rows - 1][i], 0.))
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return false;
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}
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// Except for the last element, which has to be one
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return almost_equal ((*this)[m_rows - 1][m_columns - 1], 1.);
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}
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double
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matrix::determinant (void) const {
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if (m_rows != m_columns)
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not_implemented ();
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switch (m_rows) {
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case 2: return determinant2x2 ();
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case 3: return determinant3x3 ();
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case 4: return determinant4x4 ();
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}
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not_implemented ();
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}
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// With matrix A = [ a, b ]
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// [ c, d ]
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//
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// det (A) = ad - bc
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double
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matrix::determinant2x2 (void) const {
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CHECK_EQ (m_rows, 2);
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CHECK_EQ (m_columns, 2);
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return (*this)[0][0] * (*this)[1][1] -
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(*this)[0][1] * (*this)[1][0];
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}
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// [ a, b, c ]
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// Given matrix A = [ d, e, f ]
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// [ g, h, i ]
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//
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// det (A) = aei + bfg + cdh - afg - bdi - ceg
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// det (A) = a(ei - fg) + b(fg - di) + c(dh - eg)
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double
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matrix::determinant3x3 (void) const {
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CHECK_EQ (m_rows, 3);
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CHECK_EQ (m_columns, 3);
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return (*this)[0][0] * (*this)[1][1] * (*this)[2][2] + // aei
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(*this)[0][1] * (*this)[1][2] * (*this)[2][0] + // bfg
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(*this)[0][2] * (*this)[1][0] * (*this)[2][1] - // cdh
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(*this)[0][0] * (*this)[1][2] * (*this)[2][1] - // afh
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(*this)[0][1] * (*this)[1][0] * (*this)[2][2] - // bdi
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(*this)[0][2] * (*this)[1][1] * (*this)[2][0]; // ceg
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}
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// From libMathematics, http://www.geometrictools.com/
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double
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matrix::determinant4x4 (void) const {
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CHECK_EQ (m_rows, 4);
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CHECK_EQ (m_columns, 4);
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double a0 = m_data[ 0] * m_data[ 5] - m_data[ 1] * m_data[ 4],
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a1 = m_data[ 0] * m_data[ 6] - m_data[ 2] * m_data[ 4],
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a2 = m_data[ 0] * m_data[ 7] - m_data[ 3] * m_data[ 4],
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a3 = m_data[ 1] * m_data[ 6] - m_data[ 2] * m_data[ 5],
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a4 = m_data[ 1] * m_data[ 7] - m_data[ 3] * m_data[ 5],
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a5 = m_data[ 2] * m_data[ 7] - m_data[ 3] * m_data[ 6],
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b0 = m_data[ 8] * m_data[13] - m_data[ 9] * m_data[12],
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b1 = m_data[ 8] * m_data[14] - m_data[10] * m_data[12],
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b2 = m_data[ 8] * m_data[15] - m_data[11] * m_data[12],
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b3 = m_data[ 9] * m_data[14] - m_data[10] * m_data[13],
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b4 = m_data[ 9] * m_data[15] - m_data[11] * m_data[13],
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b5 = m_data[10] * m_data[15] - m_data[11] * m_data[14];
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return a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0;
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}
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matrix
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matrix::inverse (void) const {
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if (m_rows != m_columns)
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not_implemented ();
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switch (m_rows) {
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case 2: return inverse2x2 ();
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case 3: return inverse3x3 ();
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case 4: return inverse4x4 ();
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}
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not_implemented ();
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}
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matrix
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matrix::inverse2x2 (void) const {
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CHECK (m_rows == 2);
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CHECK (m_columns == 2);
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double det = determinant2x2 ();
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if (almost_equal (det, 0.))
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throw not_invertible ();
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return matrix (2, 2, { (*this)[1][1], -(*this)[0][1],
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-(*this)[1][0], (*this)[0][0] }) /= det;
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}
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// [ a, b, c ]
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// Given matrix A = [ d, e, f ]
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// [ g, h, i ]
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//
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matrix
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matrix::inverse3x3 (void) const {
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CHECK (m_rows == 3);
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CHECK (m_columns == 3);
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double det = determinant3x3();
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if (almost_equal (det, 0.))
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throw not_invertible ();
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matrix val (m_rows, m_columns, {
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(*this)[1][1] * (*this)[2][2] - (*this)[1][2] * (*this)[2][1], // ei - fh
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(*this)[0][2] * (*this)[2][1] - (*this)[0][1] * (*this)[2][2], // ch - bi
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(*this)[0][1] * (*this)[1][2] - (*this)[0][2] * (*this)[1][1], // bf - ce
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(*this)[1][2] * (*this)[2][0] - (*this)[1][0] * (*this)[2][2], // fg - di
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(*this)[0][0] * (*this)[2][2] - (*this)[0][2] * (*this)[2][0], // ai - cg
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(*this)[0][2] * (*this)[1][0] - (*this)[0][0] * (*this)[1][2], // cd - af
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(*this)[1][0] * (*this)[2][1] - (*this)[1][1] * (*this)[2][0], // dh - eg
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(*this)[0][1] * (*this)[2][0] - (*this)[0][0] * (*this)[2][1], // bg - ah
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(*this)[0][0] * (*this)[1][1] - (*this)[0][1] * (*this)[1][0] // ae - bd
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});
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return val /= det;
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//matrix val ({ vector::cross ((*this)[1], (*this)[2], 3),
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// vector::cross ((*this)[2], (*this)[0], 3),
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// vector::cross ((*this)[0], (*this)[1], 3) });
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//return val /= determinant3x3 ();
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}
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matrix
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matrix::inverse4x4 (void) const {
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double a0 = m_data[ 0] * m_data[ 5] - m_data[ 1] * m_data[ 4],
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a1 = m_data[ 0] * m_data[ 6] - m_data[ 2] * m_data[ 4],
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a2 = m_data[ 0] * m_data[ 7] - m_data[ 3] * m_data[ 4],
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a3 = m_data[ 1] * m_data[ 6] - m_data[ 2] * m_data[ 5],
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a4 = m_data[ 1] * m_data[ 7] - m_data[ 3] * m_data[ 5],
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a5 = m_data[ 2] * m_data[ 7] - m_data[ 3] * m_data[ 6],
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b0 = m_data[ 8] * m_data[13] - m_data[ 9] * m_data[12],
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b1 = m_data[ 8] * m_data[14] - m_data[10] * m_data[12],
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b2 = m_data[ 8] * m_data[15] - m_data[11] * m_data[12],
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b3 = m_data[ 9] * m_data[14] - m_data[10] * m_data[13],
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b4 = m_data[ 9] * m_data[15] - m_data[11] * m_data[13],
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b5 = m_data[10] * m_data[15] - m_data[11] * m_data[14];
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double det = a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0;
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if (almost_equal (det, 0.))
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throw not_invertible ();
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return matrix (4, 4, {
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+ m_data[ 5] * b5 - m_data[ 6] * b4 + m_data[ 7] * b3,
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- m_data[ 1] * b5 + m_data[ 2] * b4 - m_data[ 3] * b3,
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+ m_data[13] * a5 - m_data[14] * a4 + m_data[15] * a3,
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- m_data[ 9] * a5 + m_data[10] * a4 - m_data[11] * a3,
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- m_data[ 4] * b5 + m_data[ 6] * b2 - m_data[ 7] * b1,
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+ m_data[ 0] * b5 - m_data[ 2] * b2 + m_data[ 3] * b1,
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- m_data[12] * a5 + m_data[14] * a2 - m_data[15] * a1,
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+ m_data[ 8] * a5 - m_data[10] * a2 + m_data[11] * a1,
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+ m_data[ 4] * b4 - m_data[ 5] * b2 + m_data[ 7] * b0,
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- m_data[ 0] * b4 + m_data[ 1] * b2 - m_data[ 3] * b0,
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+ m_data[12] * a4 - m_data[13] * a2 + m_data[15] * a0,
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- m_data[ 8] * a4 + m_data[ 9] * a2 - m_data[11] * a0,
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- m_data[ 4] * b3 + m_data[ 5] * b1 - m_data[ 6] * b0,
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+ m_data[ 0] * b3 - m_data[ 1] * b1 + m_data[ 2] * b0,
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- m_data[12] * a3 + m_data[13] * a1 - m_data[14] * a0,
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+ m_data[ 8] * a3 - m_data[ 9] * a1 + m_data[10] * a0
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}) /= det;
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}
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matrix
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matrix::zeroes (size_t diag)
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{ return zeroes (diag, diag); }
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matrix
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matrix::zeroes (size_t rows, size_t columns) {
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matrix m (rows, columns);
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std::fill (m.m_data.get (), m.m_data.get () + m.size (), 0.0);
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return m;
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}
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matrix
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matrix::identity (size_t diag) {
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matrix val (zeroes (diag));
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for (unsigned int i = 0; i < diag; ++i)
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val[i][i] = 1.0;
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return val;
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}
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matrix
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matrix::magic (size_t n) {
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CHECK_GT (n, 2);
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if (n % 2 == 1)
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return magic_odd (n);
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|
|
|
if (n % 4 == 0)
|
|
return magic_even_single (n);
|
|
|
|
return magic_even_double (n);
|
|
}
|
|
|
|
|
|
// Use the 'siamese' method. Start from the top centre, progress up-left one.
|
|
// If filled then drop down one row instead. Wrap around indexing.
|
|
matrix
|
|
matrix::magic_odd (size_t n) {
|
|
CHECK_GT (n, 2);
|
|
CHECK_EQ (n % 2, 1);
|
|
|
|
matrix val (zeroes (n));
|
|
for (unsigned int i = 1, x = n / 2, y = 0; i <= n * n; ++i) {
|
|
val[y][x] = i;
|
|
|
|
unsigned int x1 = (x + 1) % n,
|
|
y1 = (y + n - 1) % n;
|
|
|
|
if (!almost_equal (val[y1][x1], 0)) {
|
|
x1 = x;
|
|
y1 = (y + 1) % n;
|
|
}
|
|
|
|
x = x1;
|
|
y = y1;
|
|
}
|
|
|
|
return val;
|
|
}
|
|
|
|
|
|
matrix
|
|
matrix::magic_even_single (size_t)
|
|
{ not_implemented (); }
|
|
|
|
|
|
matrix
|
|
matrix::magic_even_double (size_t)
|
|
{ not_implemented (); }
|
|
|