#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_f * | gan_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_f * | gan_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. |
Part of: Gandalf Library