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3x4matrixf.c File Reference

#include <math.h>
#include <gandalf/linalg/3x4matrixf.h>
#include <gandalf/common/misc_error.h>
#include <gandalf/common/endian_io.h>

Defines

#define GAN_MATTYPE   Gan_Matrix34_f
#define GAN_MATRIX_TYPE   Gan_Matrix_f
#define GAN_SQUMATRIX_TYPE   Gan_SquMatrix_f
#define GAN_VECTOR_TYPE   Gan_Vector_f
#define GAN_MAT_ELEMENT_TYPE   GAN_FLOAT
#define GAN_REALTYPE   float
#define GAN_FWRITE_LENDIAN   gan_fwrite_lendian_f32
#define GAN_FREAD_LENDIAN   gan_fread_lendian_f32
#define GAN_VECTYPE1   Gan_Vector3_f
#define GAN_VECTYPE2   Gan_Vector4_f
#define GAN_MATTYPEL   Gan_Matrix33_f
#define GAN_MATTYPER   Gan_Matrix44_f
#define GAN_SQUMATTYPEL   Gan_SquMatrix33_f
#define GAN_SQUMATTYPER   Gan_SquMatrix44_f
#define GAN_MAT_FPRINT   gan_mat34f_fprint
#define GAN_MAT_PRINT   gan_mat34f_print
#define GAN_MAT_FSCANF   gan_mat34f_fscanf
#define GAN_MAT_FWRITE   gan_mat34f_fwrite
#define GAN_MAT_FREAD   gan_mat34f_fread
#define GAN_MAT_ZERO_Q   gan_mat34f_zero_q
#define GAN_MAT_ZERO_S   gan_mat34f_zero_s
#define GAN_MAT_COPY_Q   gan_mat34f_copy_q
#define GAN_MAT_COPY_S   gan_mat34f_copy_s
#define GAN_MAT_SCALE_Q   gan_mat34f_scale_q
#define GAN_MAT_SCALE_I   gan_mat34f_scale_i
#define GAN_MAT_SCALE_S   gan_mat34f_scale_s
#define GAN_MAT_DIVIDE_Q   gan_mat34f_divide_q
#define GAN_MAT_DIVIDE_I   gan_mat34f_divide_i
#define GAN_MAT_DIVIDE_S   gan_mat34f_divide_s
#define GAN_MAT_NEGATE_Q   gan_mat34f_negate_q
#define GAN_MAT_NEGATE_I   gan_mat34f_negate_i
#define GAN_MAT_NEGATE_S   gan_mat34f_negate_s
#define GAN_MAT_UNIT_Q   gan_mat34f_unit_q
#define GAN_MAT_UNIT_I   gan_mat34f_unit_i
#define GAN_MAT_UNIT_S   gan_mat34f_unit_s
#define GAN_MAT_ADD_Q   gan_mat34f_add_q
#define GAN_MAT_ADD_I1   gan_mat34f_add_i1
#define GAN_MAT_ADD_I2   gan_mat34f_add_i2
#define GAN_MAT_INCREMENT   gan_mat34f_increment
#define GAN_MAT_ADD_S   gan_mat34f_add_s
#define GAN_MAT_SUB_Q   gan_mat34f_sub_q
#define GAN_MAT_SUB_I1   gan_mat34f_sub_i1
#define GAN_MAT_SUB_I2   gan_mat34f_sub_i2
#define GAN_MAT_DECREMENT   gan_mat34f_decrement
#define GAN_MAT_SUB_S   gan_mat34f_sub_s
#define GAN_VEC_OUTER_Q   gan_vec34f_outer_q
#define GAN_VEC_OUTER_S   gan_vec34f_outer_s
#define GAN_MAT_MULTV_Q   gan_mat34f_multv4_q
#define GAN_MAT_MULTV_S   gan_mat34f_multv4_s
#define GAN_MATT_MULTV_Q   gan_mat34Tf_multv2_q
#define GAN_MATT_MULTV_S   gan_mat34Tf_multv2_s
#define GAN_MAT_LMULTM_Q   gan_mat34f_lmultm33_q
#define GAN_MAT_LMULTM_S   gan_mat34f_lmultm33_s
#define GAN_MAT_LMULTMT_Q   gan_mat34f_lmultm33T_q
#define GAN_MAT_LMULTMT_S   gan_mat34f_lmultm33T_s
#define GAN_MAT_RMULTM_Q   gan_mat34f_rmultm44_q
#define GAN_MAT_RMULTM_S   gan_mat34f_rmultm44_s
#define GAN_MAT_RMULTMT_Q   gan_mat34f_rmultm44T_q
#define GAN_MAT_RMULTMT_S   gan_mat34f_rmultm44T_s
#define GAN_MAT_LMULTMT_SYM_Q   gan_mat34f_lmultm34T_sym_q
#define GAN_MAT_LMULTMT_SYM_S   gan_mat34f_lmultm34T_sym_s
#define GAN_MAT_RMULTMT_SYM_Q   gan_mat34f_rmultm34T_sym_q
#define GAN_MAT_RMULTMT_SYM_S   gan_mat34f_rmultm34T_sym_s
#define GAN_MAT_SLMULTT_Q   gan_mat34f_slmultT_q
#define GAN_MAT_SLMULTT_S   gan_mat34f_slmultT_s
#define GAN_MAT_SRMULTT_Q   gan_mat34f_srmultT_q
#define GAN_MAT_SRMULTT_S   gan_mat34f_srmultT_s
#define GAN_MAT_LMULTS_Q   gan_mat34f_lmults33_q
#define GAN_MAT_LMULTS_S   gan_mat34f_lmults33_s
#define GAN_MAT_RMULTS_Q   gan_mat34f_rmults44_q
#define GAN_MAT_RMULTS_S   gan_mat34f_rmults44_s
#define GAN_SYMMATL_LRMULT_Q   gan_symmat33f_lrmultm34T_q
#define GAN_SYMMATL_LRMULT_S   gan_symmat33f_lrmultm34T_s
#define GAN_SYMMATR_LRMULT_Q   gan_symmat44f_lrmultm34_q
#define GAN_SYMMATR_LRMULT_S   gan_symmat44f_lrmultm34_s
#define GAN_MAT_LMULTL_Q   gan_mat34f_lmultl33_q
#define GAN_MAT_LMULTL_S   gan_mat34f_lmultl33_s
#define GAN_MAT_LMULTL_I   gan_mat34f_lmultl33_i
#define GAN_MAT_LMULTLI_Q   gan_mat34f_lmultl33I_q
#define GAN_MAT_LMULTLI_S   gan_mat34f_lmultl33I_s
#define GAN_MAT_LMULTLI_I   gan_mat34f_lmultl33I_i
#define GAN_MAT_LMULTLT_Q   gan_mat34f_lmultl33T_q
#define GAN_MAT_LMULTLT_S   gan_mat34f_lmultl33T_s
#define GAN_MAT_LMULTLT_I   gan_mat34f_lmultl33T_i
#define GAN_MAT_LMULTLIT_Q   gan_mat34f_lmultl33IT_q
#define GAN_MAT_LMULTLIT_S   gan_mat34f_lmultl33IT_s
#define GAN_MAT_LMULTLIT_I   gan_mat34f_lmultl33IT_i
#define GAN_MAT_RMULTL_Q   gan_mat34f_rmultl44_q
#define GAN_MAT_RMULTL_S   gan_mat34f_rmultl44_s
#define GAN_MAT_RMULTL_I   gan_mat34f_rmultl44_i
#define GAN_MAT_RMULTLI_Q   gan_mat34f_rmultl44I_q
#define GAN_MAT_RMULTLI_S   gan_mat34f_rmultl44I_s
#define GAN_MAT_RMULTLI_I   gan_mat34f_rmultl44I_i
#define GAN_MAT_RMULTLT_Q   gan_mat34f_rmultl44T_q
#define GAN_MAT_RMULTLT_S   gan_mat34f_rmultl44T_s
#define GAN_MAT_RMULTLT_I   gan_mat34f_rmultl44T_i
#define GAN_MAT_RMULTLIT_Q   gan_mat34f_rmultl44IT_q
#define GAN_MAT_RMULTLIT_S   gan_mat34f_rmultl44IT_s
#define GAN_MAT_RMULTLIT_I   gan_mat34f_rmultl44IT_i
#define GAN_MAT_SUMSQR_Q   gan_mat34f_sumsqr_q
#define GAN_MAT_SUMSQR_S   gan_mat34f_sumsqr_s
#define GAN_MAT_FNORM_Q   gan_mat34f_Fnorm_q
#define GAN_MAT_FNORM_S   gan_mat34f_Fnorm_s
#define GAN_MAT_FROM_MAT_Q   gan_mat34f_from_matf_q
#define GAN_MAT_FROM_MAT_S   gan_mat34f_from_matf_s

Functions

Gan_Bool gan_mat34f_fprint (FILE *fp, const Gan_Matrix34_f *A, const char *prefix, int indent, const char *fmt)
 Print 3x4 matrix to file.
Gan_Bool gan_mat34f_fscanf (FILE *fp, Gan_Matrix34_f *A, char *prefix, int prefix_len)
 Read 3x4 matrix from file.
Gan_Matrix34_f gan_mat34f_fill_s (float XX, float XY, float XZ, float XW, float YX, float YY, float YZ, float YW, float ZX, float ZY, float ZZ, float ZW)
 Fill 3x4 matrix with values.
Gan_Vector3_f gan_mat34f_multv3h_s (const Gan_Matrix34_f *A, const Gan_Vector3_f *p, float h)
 Multiply 3x4 matrix by homogeneous 3-vector.
Gan_Bool gan_mat34hf_invert_q (const Gan_Matrix34_f *A, float a, Gan_Matrix34_f *B, float *b)
 Compute inverse of completed 4x4 matrix.
Gan_Matrix34_f gan_mat34hf_invert_s (const Gan_Matrix34_f *A, float a, float *b)
 Compute inverse of completed 4x4 matrix.
void gan_mat34f_get_rows_s (const Gan_Matrix34_f *A, Gan_Vector4_f *p, Gan_Vector4_f *q, Gan_Vector4_f *r)
 Extract rows of 3x4 matrix.
void gan_mat34f_get_cols_s (const Gan_Matrix34_f *A, Gan_Vector3_f *p, Gan_Vector3_f *q, Gan_Vector3_f *r, Gan_Vector3_f *s)
 Extract columns of 3x4 matrix.
Gan_Matrix33_f gan_mat34f_get_m33l_s (const Gan_Matrix34_f *A)
 Extract left-hand 3x3 part of 3x4 matrix.
Gan_Vector3_f gan_mat34f_get_v3r_s (const Gan_Matrix34_f *A)
 Extract right-hand column of 3x4 matrix.
Gan_Matrix34_f gan_mat34f_set_parts_s (const Gan_Matrix33_f *B, const Gan_Vector3_f *p)
 Build 3x4 matrix from 3x3 matrix and column 3-vector.
Gan_Matrix34_f gan_mat34f_set_cols_s (const Gan_Vector3_f *p, const Gan_Vector3_f *q, const Gan_Vector3_f *r, const Gan_Vector3_f *s)
 Build 3x4 matrix from 3-vector columns.
Gan_Matrix34_f gan_mat34f_set_rows_s (const Gan_Vector4_f *p, const Gan_Vector4_f *q, const Gan_Vector4_f *r)
 Build 3x4 matrix from 4-vector rows.
Gan_Matrix34_fgan_mat34f_from_matf_q (const Gan_Matrix_f *A, Gan_Matrix34_f *B)
 Convert generic rectangular matrix to 3x4 matrix structure.
Gan_Bool gan_mat34f_print (const Gan_Matrix34_f *A, const char *prefix, int indent, const char *fmt)
 Print fixed size matrix to standard output.
Gan_Bool gan_mat34f_fwrite (FILE *fp, const Gan_Matrix34_f *A, gan_uint32 magic_number)
 Write fixed size matrix to file stream.
Gan_Bool gan_mat34f_fread (FILE *fp, Gan_Matrix34_f *A, gan_uint32 *magic_number)
 Read fixed size matrix from file stream.
Gan_Matrix34_f gan_mat34f_zero_s (void)
 Set fixed size matrix to zero.
Gan_Matrix34_f gan_mat34f_copy_s (const Gan_Matrix34_f *A)
 Copy fixed size matrix.
Gan_Matrix34_f gan_mat34f_scale_s (const Gan_Matrix34_f *A, float a)
 Scale fixed size matrix.
Gan_Matrix34_f gan_mat34f_divide_s (const Gan_Matrix34_f *A, float a)
 Divide fixed size matrix by scalar.
Gan_Matrix34_f gan_mat34f_negate_s (const Gan_Matrix34_f *A)
 Negate fixed size matrix.
Gan_Matrix34_fgan_mat34f_unit_q (Gan_Matrix34_f *A, Gan_Matrix34_f *B)
 Scale matrix to unit norm.
Gan_Matrix34_f gan_mat34f_unit_s (const Gan_Matrix34_f *A)
 Scale matrix to unit norm.
Gan_Matrix34_f gan_mat34f_add_s (const Gan_Matrix34_f *A, const Gan_Matrix34_f *B)
 Add two fixed size matrices.
Gan_Matrix34_f gan_mat34f_sub_s (const Gan_Matrix34_f *A, const Gan_Matrix34_f *B)
 Subtract two fixed size matrices.
Gan_Matrix34_f gan_vec34f_outer_s (const Gan_Vector3_f *p, const Gan_Vector4_f *q)
 Compute the outer product of two fixed size vectors.
Gan_Vector3_f gan_mat34f_multv4_s (const Gan_Matrix34_f *A, const Gan_Vector4_f *p)
 Matrix/vector product.
Gan_Vector4_f gan_mat34Tf_multv2_s (const Gan_Matrix34_f *A, const Gan_Vector3_f *p)
 Matrix/vector product with the matrix transposed.
Gan_Matrix34_f gan_mat34f_lmultm33_s (const Gan_Matrix34_f *A, const Gan_Matrix33_f *B)
 Left-multiply a matrix by another matrix.
Gan_Matrix34_f gan_mat34f_lmultm33T_s (const Gan_Matrix34_f *A, const Gan_Matrix33_f *B)
 Left-multiply a matrix by the transpose of another matrix.
Gan_Matrix34_f gan_mat34f_rmultm44_s (const Gan_Matrix34_f *A, const Gan_Matrix44_f *B)
 Right-multiply a matrix by another matrix.
Gan_Matrix34_f gan_mat34f_rmultm44T_s (const Gan_Matrix34_f *A, const Gan_Matrix44_f *B)
 Right-multiply a matrix by the transpose of another matrix.
Gan_SquMatrix44_f gan_mat34f_lmultm34T_sym_s (const Gan_Matrix34_f *A, const Gan_Matrix34_f *B)
 Matrix product producing a symmetric matrix.
Gan_SquMatrix33_f gan_mat34f_rmultm34T_sym_s (const Gan_Matrix34_f *A, const Gan_Matrix34_f *B)
 Matrix product producing a symmetric matrix.
Gan_SquMatrix44_f gan_mat34f_slmultT_s (const Gan_Matrix34_f *A)
 Left-multiply a matrix by its own transpose, producing a symmetric matrix.
Gan_SquMatrix33_f gan_mat34f_srmultT_s (const Gan_Matrix34_f *A)
 Right-multiply a matrix by its own transpose, producing a symmetric matrix.
Gan_Matrix34_f gan_mat34f_lmults33_s (const Gan_Matrix34_f *A, const Gan_SquMatrix33_f *B)
 Left-multiply a matrix by a symmetric matrix.
Gan_Matrix34_f gan_mat34f_rmults44_s (const Gan_Matrix34_f *A, const Gan_SquMatrix44_f *B)
 Right-multiply a matrix by a symmetric matrix.
Gan_SquMatrix44_f gan_symmat33f_lrmultm34T_s (const Gan_SquMatrix33_f *A, const Gan_Matrix34_f *B, Gan_Matrix34_f *C)
 Matrix triple product involving symmetric matrices.
Gan_SquMatrix33_f gan_symmat44f_lrmultm34_s (const Gan_SquMatrix44_f *A, const Gan_Matrix34_f *B, Gan_Matrix34_f *C)
 Matrix triple product involving symmetric matrices.
Gan_Matrix34_f gan_mat34f_lmultl33_s (const Gan_Matrix34_f *A, const Gan_SquMatrix33_f *B)
 Left-multiply a matrix by a lower-triangular matrix.
Gan_Matrix34_f gan_mat34f_lmultl33I_s (const Gan_Matrix34_f *A, const Gan_SquMatrix33_f *B)
 Left-multiply a matrix by the inverse of a lower-triangular matrix.
Gan_Matrix34_f gan_mat34f_lmultl33T_s (const Gan_Matrix34_f *A, const Gan_SquMatrix33_f *B)
 Left-multiply a matrix by the transpose of a lower-triangular matrix.
Gan_Matrix34_f gan_mat34f_lmultl33IT_s (const Gan_Matrix34_f *A, const Gan_SquMatrix33_f *B)
 Left-multiply a matrix by the inverse transpose of a lower-triangular matrix.
Gan_Matrix34_f gan_mat34f_rmultl44_s (const Gan_Matrix34_f *A, const Gan_SquMatrix44_f *B)
 Right-multiply a matrix by a lower-triangular matrix.
Gan_Matrix34_f gan_mat34f_rmultl44I_s (const Gan_Matrix34_f *A, const Gan_SquMatrix44_f *B)
 Right-multiply a matrix by the inverse of a lower-triangular matrix.
Gan_Matrix34_f gan_mat34f_rmultl44T_s (const Gan_Matrix34_f *A, const Gan_SquMatrix44_f *B)
 Right-multiply a matrix by the transpose of a lower-triangular matrix.
Gan_Matrix34_f gan_mat34f_rmultl44IT_s (const Gan_Matrix34_f *A, const Gan_SquMatrix44_f *B)
 Right-multiply a matrix by the inverse transpose of a lower-triangular matrix.
float gan_mat34f_sumsqr_s (const Gan_Matrix34_f *A)
 Returns sum of squares of matrix elements.
float gan_mat34f_Fnorm_s (const Gan_Matrix34_f *A)
 Frobenius norm of matrix.
Gan_Matrix34_f gan_mat34f_from_matf_s (const Gan_Matrix_f *A)
 Convert generic rectangular matrix to fixed size matrix structure.

Detailed Description

Module: 3x4 matrices (single precision)

Part of: Gandalf Library

Version:
1.13
Date:
2004/03/18 18:26:20
Author:
pm
Copyright: (c) 2000 Imagineer Software Limited
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