Declares all operation betweens matrices, matrice and vector, matrice and scalars. More...

#include <stdio.h>

Macros
#define	make_transpose_arr_4x4(mat)
	Get a static array containing the transpose of mat. More...

#define	make_transpose_arr_3x3(mat)
	Get a static array containing the transpose of mat. More...

#define	make_transpose_arr_4x4_to_3x3(mat)
	Get a static array containing the transpose of mat changing index convention. More...

Functions
void	transpose (double M[4][4], double Mt[4][4])
	Compute the transpose of a matrix with first index is 1. More...

void	dot_3x3_arr (double res[3], double mat[3][3], double vec[3])
	Compute the dot product of a matrix by a vector. More...

double *	dot_3x3_ptr (double res, double mat, double vec)
	Compute the dot product of a matrix by a vector. More...

void	dot_4x4_arr (double res[4], double mat[4][4], double vec[4])
	Compute the dot product of a matrix by a vector. More...

double *	dot_4x4_ptr (double res, double mat, double vec)
	Compute the dot product of a matrix by a vector. More...

double *	dot_nxm_ptr_0 (double res, double mat, double vec, int nr, int nc)
	Compute the dot product of a matrix by a vector. More...

double *	dot_nxm_ptr_1 (double res, double mat, double vec, int nr, int nc)
	Compute the dot product of a matrix by a vector. More...

void	matrix_product (double M[4][4], double v[4], double Mv[4])

void	matrix_product_0 (double *M, double v, double *Mv, int nr, int nc)

void	matrix_product_1 (double *M, double v, double *v_out, int nr, int nc)

void	matmul_3x3_arr (double res[3][3], double mat_1[3][3], double mat_2[3][3])
	Compute the product of two matrices. More...

double **	matmul_3x3_ptr (double res, double mat_1, double **mat_2)
	Compute the product of two matrices. More...

void	matmul_4x4_arr (double res[4][4], double mat_1[4][4], double mat_2[4][4])
	Compute the product of two matrices. More...

double **	matmul_4x4_ptr (double res, double mat_1, double **mat_2)
	Compute the product of two matrices. More...

void	doublematrix_product (double M1[4][4], double M2[4][4], double M[4][4])
	DEPRECATED, see matmul_4x4_arr(). More...

void	doublematrix_product_0 (double M1, int nb_row_M1, int nb_col_M1, double M2, int nb_col_M2, double **M)
	Compute the product of two matrices of given shape. The first index is 0. More...

void	doublematrix_product_1 (double M1, int nb_row_M1, int nb_col_M1, double M2, int nb_col_M2, double **M)
	Compute the product of two matrices of given shape. The first index is 1. More...

int	rotation_matrix (int type, double angle, double R[4][4])
	DEPRECATED, see rotation_matrix_4x4_arr(). More...

int	rotation_matrix_4x4_ptr (int type, double angle, double **R)
	Compute the rotation matrix for a specified angle around a specific axis. More...

int	rotation_matrix_3x3_ptr (int type, double angle, double **R)
	Compute the rotation matrix for a specified angle around a specific axis. More...

int **	get_imat_0 (int nb_r, int nb_c)
	create (with memory allocation) a [nb_r times nb_c] matrix of integers, starting at index 0. The function returns NULL if the requested number of rows or columns is negative or null. More...

int **	get_imat_1 (int nb_r, int nb_c)
	create (with memory allocation) a [nb_r times nb_c] matrix of integers, starting at index 1 More...

void	free_imat_0 (int **mat)
	release memory for a matrix of integers, starting with index 0 More...

void	free_imat_1 (int **mat)
	release memory for a matrix of integers, starting with index 1 More...

void	copy_imat_0 (int tab_src, int tab_dest, int nb_r, int nb_c)
	Copy the content of a [nb_r times nb_c] matrix of integers to a second matrix, starting with index 0. More...

void	print_imat_0 (int **mat, int nb_r, int nb_c)
	print a [nb_r times nb_c] matrix of integers in console, starting with index 0 More...

double **	get_dmat_0 (int nb_r, int nb_c)
	create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 0 The function returns NULL if the requested number of rows or columns is negative or null. More...

double **	get_dmat_1 (int nb_r, int nb_c)
	create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 1 More...

double **	get_contdmat_1 (int nb_r, int nb_c)
	create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 1. The allocated memory is CONTIGUOUS (adapted for Lapack routine) More...

void	free_dmat_0 (double **mat)
	release memory for a matrix of doubles, starting at index 0 More...

void	free_dmat_1 (double **mat)
	release memory for a matrix of doubles, starting at index 1 More...

void	copy_3x3_arr (double res[3][3], double src[3][3])
	Copy the array into another one. More...

double **	copy_3x3_ptr (double res, double src)
	Copy the matrix into another one. More...

void	copy_4x4_arr (double res[4][4], double src[4][4])
	Copy the array into another one. More...

double **	copy_4x4_ptr (double res, double src)
	Copy the matrix into another one. More...

void	copy_dmat_0 (double tab_src, double tab_dest, int nb_r, int nb_c)
	Copy the content of a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0. More...

void	copy_dmat_1 (double src, double dest, int x, int y)
	Copy the content of a [x times y] matrix of doubles to a second matrix, starting with index 1. More...

double **	re_copy_dmat_0 (double src, int s_nx, int s_ny, double dest, int d_nx, int d_ny)
	Copy a 2D array of double into another, reallocate the destination if required. More...

double **	re_copy_dmat_1 (double src, int s_nx, int s_ny, double dest, int d_nx, int d_ny)
	Copy a 2D array of double into another, reallocate the destination if required. More...

void	transpose_dmat_0 (double tab_src, double tab_dest, int nb_r, int nb_c)
	Transpose a [nb_r times nb_c] matrix of doubles and store the results in a [y times nb_r] matrix, starting with index 0. More...

void	transpose_dmat_1 (double tab_src, double tab_dest, int x, int y)
	Transpose a [x times y] matrix of doubles and store the results in a [y times x] matrix, starting with index 1. More...

void	print_dmat_0 (double **mat, int nb_r, int nb_c)
	print a [nb_r times nb_c] matrix of doubles in console, starting with index 0 More...

void	print_format_dmat_0 (double *mat, int nb_r, int nb_c, char format)
	print a [nb_r times nb_c] matrix of doubles in console, starting with index 0 More...

int	read_dmat_0 (double *mat, int nb_r, int nb_c, const char name)
	read a [nb_r times nb_c] matrix of doubles from a file starting with index 0 and store the values in a matrix provided by the user. The first nb_r line of the file are loaded, other lines are ignored. More...

double **	load_dmat_0 (int nb_r, int nb_c, char *name)
	load a [nb_r times nb_c] matrix of doubles from a file starting with index 0. The matrix is created (memory allocation) and filled with the values from the file. More...

int	save_dmat_0 (double *mat, int nb_r, int nb_c, char name)
	save a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0 More...

int	save_format_dmat_0 (double *mat, int nb_r, int nb_c, char name, char *format)
	save a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0. More...

int	code_dmat_0 (FILE file_out, double values, const char name, int n_row, int n_col)
	Write C-code to allocate and fill an array of arrays of doubles. More...

int	code_dmat_1 (FILE file_out, double values, const char name, int n_row, int n_col)
	Write C-code to allocate and fill an array of arrays of doubles. More...

int	slct_dmat_0 (double tab_src, int nb_r, int nb_c, double tab_out, int l_vec, int *vec)
	fill the second [nb_r times l_vec] matrix by selecting the columns of the first [nb_r times nb_c] matrix of doubles. The indexes of the columns are specified in the (l_vec sized) vector, starting with index 0 More...

int	slctr_dmat_0 (double tab_src, int nb_r, int nb_c, double tab_dest, int l_vec, int *vec)
	fill the second [l_vec times nb_c] matrix by selecting the rows of the first [nb_r times nb_c] matrix of doubles. The indexes of the rows are specified in the (l_vec sized) vector, starting with index 0 More...

void	zeros_dmat_0 (double **mat, int nb_r, int nb_c)
	set all the element of a [nb_r times nb_c] matrix of doubles to zero, starting with index 0 More...

int	set_diag_dmat_0 (double **mat, int size, double value)
	Set a diagonal matrix with the given value. More...

int	set_identity_dmat_0 (double **mat, int size)
	Set a matrix to identity matrix. Out-of-diagonal elements are set to zero. More...

double **	identity_dmat_3x3_ptr (double **mat)
	Set the matrix to identity (diagonal to 1, outside to 0). More...

double **	identity_dmat_4x4_ptr (double **mat)
	Set the matrix to identity (diagonal to 1, outside to 0). More...

int	identity_dmat_3x3_arr (double mat[3][3])
	Set the matrix to identity (diagonal to 1, outside to 0). More...

int	identity_dmat_4x4_arr (double mat[4][4])
	Set the matrix to identity (diagonal to 1, outside to 0). More...

void	mult_dmat_0 (double A, double B, double **C, int n1, int n2, int n3)
	function to multiply two matrices: A * B = C [n1 n2] [n2 n3] = [n1 n3] More...

void	sum_dmat_0 (double A, double B, double **C, int n1, int n2)
	function to sum two matrices: A + B = C More...

void	diff_dmat_0 (double A, double B, double **C, int n1, int n2)
	function to sum two matrices: A - B = C More...

void	opposite_dmat_0 (double **A, int n1, int n2)
	function to take the opposite of a given matrix (minus in front of each entry) More...

void	readmatrix (double *matrix, int n)
	function to read a matrix (obsolete?) More...

int	get_dmatfiles_size (const char fileName, int n_row, int *n_col)
	Function to load a file and calculate the number of rows and columns. More...

void	update_initzeros (int initzeros, double matrix, int n)
	function to update the initzeros array (obsolete?) More...

void	arrange_matrix (double *matrix, int n, int *initzeros)
	function to arrange matrix (obsolete?) More...

void	scale_matrix (double *matrix, int n, int *initzeros)
	function to scale matrix (obsolete?) More...

void	copy_array_dmat_1 (double src[4][4], double **dest)
	Copy the content of an array of doubles to a pointer of matrix, starting with index 1. More...

int	same_dmat_0 (double a, double b, int x, int y)
	Compare if two 2D arrays of floats are the same. More...

Detailed Description

Declares all operation betweens matrices, matrice and vector, matrice and scalars.

Some functions are still declared in file mbs_utilities.h.

The function are named (WORK IN PROGRESS):

As prefix the function name in the Numpy Python package.
Have in the middle dmat for array of float or imat for integers.
In suffix the array size convention:
- 3x3_arr: operation of array of size 3: double mat[3][3] (with first index 0).
- 4x4_arr: operation of array of size 4 with first index 1: double mat[4][4] (). The index "0" is usually disregarded (ie: for copy, it is not disregarded).
- 3x3_ptr: Same as "3x3_arr" but providing pointer: double **mat.
- 4x4_ptr: Same as "4x4_arr" but providing pointer: double **mat.
- nxm_ptr_0: sizes to be specified, first used index is "0": see get_dmat_0();
- nxm_ptr_1: sizes to be specified, first used index is "1" (0 is disregarded): see get_dmat_1();
Functions returns the pointer to the result (when the results is a vector).

For example to compute the (dot) product between an rotation matrix and a vector, the numpy function ab = numpy.dot(a, b) is here:

if double R[3][3] then double *res = dot_3x3_arr(NULL, R, vec),
if double R[4][4] then double *res = dot_4x4_arr(NULL, R, vec),
if double **R = get_dmat_0(3,3) then one of:
- double *res = dot_3x3_arr(NULL, R, vec),
- double *res = dot_nxm_arr_0(NULL, R, vec, 3, 3),
if double **R = get_dmat_1(3,3) then one of:
- double *res = dot_4x4_arr(NULL, R, vec),
- double *res = dot_nxm_arr_1(NULL, R, vec, 3, 3),

If a function allows inplace computation, it is specified in the documentation. Then the res parameter can be the same pointer as any of the other array.

If a function allocate the memory for the results when missing, it is specified in the documentation. Is such a case, NULL is the res function argument, and the returned memory must be freed by the caller.

Author: Robotran team

(c) Universite catholique de Louvain

Macro Definition Documentation

◆ make_transpose_arr_3x3

#define make_transpose_arr_3x3 ( mat )

Value:

                                     {{mat[0][0], mat[0][1], mat[0][2]}, \
                                     {mat[1][0], mat[1][1], mat[1][2]}, \
                                     {mat[2][0], mat[2][1], mat[2][2]}}

Get a static array containing the transpose of mat.

Parameters

[in] mat Pointer (double **mat) or array (double mat[3][3]) of size 3x3.

Returns: A statically array containing the transpose of mat.

◆ make_transpose_arr_4x4

#define make_transpose_arr_4x4 ( mat )

Value:

                                     {{3, 0, 0, 0}, \
                                     {3, mat[1][1], mat[1][2], mat[1][3]}, \
                                     {3, mat[2][1], mat[2][2], mat[2][3]}, \
                                     {3, mat[3][1], mat[3][2], mat[3][3]}}

Get a static array containing the transpose of mat.

Parameters

[in] mat Pointer (double **mat) or array (double mat[4][4]) of size 4x4 with unused index 0.

Returns: A statically array containing the transpose of mat.

◆ make_transpose_arr_4x4_to_3x3

#define make_transpose_arr_4x4_to_3x3 ( mat )

Value:

    {{mat[1][1], mat[1][2], mat[1][3]}, \
     {mat[2][1], mat[2][2], mat[2][3]}, \
     {mat[3][1], mat[3][2], mat[3][3]}}

Get a static array containing the transpose of mat changing index convention.

The input convention is index starting at 1 (0 unused), the output convention is the index starting at 0

Parameters

[in] mat Pointer (double **mat) or array (double mat[4][4]) of size 4x4 with unused index 0.

Returns: A statically array of size [3][3] containing the transpose of mat.

Function Documentation

◆ arrange_matrix()

void arrange_matrix	(	double **	matrix,
		int *	n,
		int *	initzeros
	)

function to arrange matrix (obsolete?)

Parameters

[in,out]	matrix	the matrix
[in]	n	the vector
[in,out]	initzeros	the vector to arrange

◆ code_dmat_0()

int code_dmat_0	(	FILE *	file_out,
		double **	values,
		const char *	name,
		int	n_row,
		int	n_col
	)

Write C-code to allocate and fill an array of arrays of doubles.

Parameters

file_out	Stream in which writing the values.
values	Pointer to the array of arrays to be written (index starts at 0).
name	Name of the variable to be filled.
n_row	The number of rows in the array.
n_col	The number of columns in the array.

Returns: Negative in case of error, 0 if code was generated.

◆ code_dmat_1()

int code_dmat_1	(	FILE *	file_out,
		double **	values,
		const char *	name,
		int	n_row,
		int	n_col
	)

Write C-code to allocate and fill an array of arrays of doubles.

Parameters

file_out	Stream in which writing the values.
values	Pointer to the array of arrays to be written (index starts at 1).
name	Name of the variable to be filled.
n_row	The number of rows in the array (not counting index 0).
n_col	The number of columns in the array (not counting index 0).

Returns: Negative in case of error, 0 if code was generated.

◆ copy_3x3_arr()

void copy_3x3_arr	(	double	res[3][3],
		double	src[3][3]
	)

Copy the array into another one.

The first index is 0, the dimension of the array is 3x3:

For pointer (double **mat) see copy_3x3_ptr();
For size 4x4 see copy_4x4_arr();

Parameters

[out]	res	Destination array for the copy.
[in]	src	Source array to be copied.

◆ copy_3x3_ptr()

double** copy_3x3_ptr	(	double **	res,
		double **	src
	)

Copy the matrix into another one.

The first index is 0, the pointer should point to 3 pointers of 3 doubles:

For array (double mat[3][3]) see copy_3x3_arr();
For size 4x4 see copy_4x4_ptr();

A new matrix is allocated if res is NULL. The memory must be freed by the caller.

Parameters

[out]	res	Destination pointer for the copy, can be NULL.
[in]	src	Source pointer to be copied.

Returns: It return the adress of the copy. This is the argument res except if it was NULL.

◆ copy_4x4_arr()

void copy_4x4_arr	(	double	res[4][4],
		double	src[4][4]
	)

Copy the array into another one.

The first index is 1, the dimension of the array is 4x4:

For pointer (double **mat) see copy_4x4_ptr();
For size 3x3 see copy_3x3_arr();

The first row and column are copied even if index 1 is supposed to not be used.

Parameters

[out]	res	Destination array for the copy.
[in]	src	Source array to be copied.

◆ copy_4x4_ptr()

double** copy_4x4_ptr	(	double **	res,
		double **	src
	)

Copy the matrix into another one.

The first index is 1, the pointer should point to 4 pointers of 4 doubles:

For array (double mat[4][4]) see copy_4x4_arr();
For size 3x3 see copy_3x3_ptr();

The first row and column are copied even if index 1 is supposed to not be used.

A new matrix is allocated if res is NULL. The memory must be freed by the caller.

Parameters

[out]	res	Destination pointer for the copy, can be NULL.
[in]	src	Source pointer to be copied.

Returns: It return the adress of the copy. This is the argument res except if it was NULL.

◆ copy_array_dmat_1()

void copy_array_dmat_1	(	double	src[4][4],
		double **	dest
	)

Copy the content of an array of doubles to a pointer of matrix, starting with index 1.

Only the content (inner 3x3 submatrix) is copied. The first row and column are not copied.

Parameters

[in]	src	The array[4][4] of doubles.
[out]	dest	The pointer to the matrix destination

◆ copy_dmat_0()

void copy_dmat_0	(	double **	tab_src,
		double **	tab_dest,
		int	nb_r,
		int	nb_c
	)

Copy the content of a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0.

Parameters

[in]	tab_src	the original matrix of doubles, starting with index 0
[out]	tab_dest	the copy of tab_src, starting with index 0
[in]	nb_r	nb of rows
[in]	nb_c	nb of columns

◆ copy_dmat_1()

void copy_dmat_1	(	double **	src,
		double **	dest,
		int	x,
		int	y
	)

Copy the content of a [x times y] matrix of doubles to a second matrix, starting with index 1.

Parameters

[in]	src	the original matrix of doubles, starting with index 1
[out]	dest	the copy of tab1, starting with index 1
[in]	x	nb of rows (without counting the unused first row)
[in]	y	nb of columns (without counting the unused first column)

◆ copy_imat_0()

void copy_imat_0	(	int **	tab_src,
		int **	tab_dest,
		int	nb_r,
		int	nb_c
	)

Copy the content of a [nb_r times nb_c] matrix of integers to a second matrix, starting with index 0.

Parameters

[in]	tab_src	the original matrix of integer, starting with index 0
[out]	tab_dest	the copy of tab_src, starting with index 0
[in]	nb_r	nb of rows
[in]	nb_c	nb of columns

◆ diff_dmat_0()

void diff_dmat_0	(	double **	A,
		double **	B,
		double **	C,
		int	n1,
		int	n2
	)

function to sum two matrices: A - B = C

Parameters

[in]	A	the matrix A
[in]	B	the matrix B
[out]	C	the matrix C
[in]	n1	first size
[in]	n2	second size

◆ dot_3x3_arr()

void dot_3x3_arr	(	double	res[3],
		double	mat[3][3],
		double	vec[3]
	)

Compute the dot product of a matrix by a vector.

The dimension of the array is 3x3:

For pointer (double **R) see dot_3x3_ptr()
For size 4x4 see dot_4x4_arr()

The function support in place computation.

Parameters

[in,out]	res	Vector of size 3 such as $\textbf{res} = \textbf{mat} \overrightarrow{vec}$ . It can be the same as `vec`.
[in]	mat	Array of size 3x3, it will be multiplied by vec.
[in]	vec	Vector of size 3. It can be the same as `res`.

◆ dot_3x3_ptr()

double* dot_3x3_ptr	(	double *	res,
		double **	mat,
		double *	vec
	)

Compute the dot product of a matrix by a vector.

The first index is 0, the pointer should point to 3 pointers of 3 doubles:

For pointer (double R[3][3]) see dot_3x3_arr()
For size 4x4 see dot_4x4_ptr()
For other size, see matrix_product_0()

The function support in place computation. A newly allocated array is returned if needed.

Parameters

[in,out]	res	Vector of size 3 such as $\textbf{res} = \textbf{mat} \overrightarrow{vec}$ . It can be the same as `vec`.
[in]	mat	Array of size 3x3, it will be multiplied by vec.
[in]	vec	Vector of size 3. It can be the same as `res`.

Returns: It return the adress of the result. This is the argument res except if it was NULL.

◆ dot_4x4_arr()

void dot_4x4_arr	(	double	res[4],
		double	mat[4][4],
		double	vec[4]
	)

Compute the dot product of a matrix by a vector.

The dimension of the array is 4x4:

For pointer (double **R) see dot_4x4_ptr()
For size 3x3 see dot_3x3_arr()

The function support in place computation.

Parameters

[in,out]	res	Vector of size 4 such as $\textbf{res} = \textbf{mat} \overrightarrow{vec}$ . It can be the same as `vec`.
[in]	mat	Array of size 4x4, it will be multiplied by vec.
[in]	vec	Vector of size 4. It can be the same as `res`.

◆ dot_4x4_ptr()

double* dot_4x4_ptr	(	double *	res,
		double **	mat,
		double *	vec
	)

Compute the dot product of a matrix by a vector.

The first index is 1, the pointer should point to 4 pointers of 4 doubles:

For pointer (double R[4][4]) see dot_4x4_arr()
For size 3x3 see dot_3x3_ptr()
For other size, see matrix_product_1()

The function support in place computation. A newly allocated array is returned if needed.

Parameters

[in,out]	res	Vector of size 4 such as $\textbf{res} = \textbf{mat} \overrightarrow{vec}$ . It can be the same as `vec`.
[in]	mat	Array of size 4x4, it will be multiplied by vec.
[in]	vec	Vector of size 4. It can be the same as `res`.

Returns: It return the adress of the result. This is the argument res except if it was NULL.

◆ dot_nxm_ptr_0()

double* dot_nxm_ptr_0	(	double *	res,
		double **	mat,
		double *	vec,
		int	nr,
		int	nc
	)

Compute the dot product of a matrix by a vector.

The first index is 0, the sizes must be provided:

For size 3x3 see dot_3x3_ptr()
For index starting at 1, see dot_nxm_ptr_1()

The function support in place computation but the caller must ensure that the size of the input vector great enough.

A newly allocated array is returned if the result vector in NULL.

Parameters

[out]	res	Vector of size `nr` such as $\textbf{res} = \textbf{mat} \overrightarrow{vec}$ . It can be the same as `vec` (if the latter is big enough).
[in]	mat	Array of size [`nr` x `nc`], it will be multiplied by vec.
[in]	vec	Vector of size `nc`. It can be the same as `res`.
[in]	nr	The number of rows in the matrix; the number of elements in the result.
[in]	nc	The number of columns in the matrix; the number of elements in the input vector.

Returns: It return the adress of the result. This is the argument res except if it was NULL.

◆ dot_nxm_ptr_1()

double* dot_nxm_ptr_1	(	double *	res,
		double **	mat,
		double *	vec,
		int	nr,
		int	nc
	)

Compute the dot product of a matrix by a vector.

The first index is 1, the sizes must be provided:

For size 4x4 see dot_4x4_ptr()
For index starting at 0, see dot_nxm_ptr_0()

The function support in place computation but the caller must ensure that the size of the input vector great enough.

A newly allocated array is returned if the result vector in NULL.

Parameters

[out]	res	Vector of size `nr` such as $\textbf{res} = \textbf{mat} \overrightarrow{vec}$ . It can be the same as `vec` (if the latter is big enough).
[in]	mat	Array of size [`nr` x `nc`], it will be multiplied by vec.
[in]	vec	Vector of size `nc`. It can be the same as `res`.
[in]	nr	The number of rows in the matrix; the number of elements in the result.
[in]	nc	The number of columns in the matrix; the number of elements in the input vector.

Returns: It return the adress of the result. This is the argument res except if it was NULL.

◆ doublematrix_product()

void doublematrix_product	(	double	M1[4][4],
		double	M2[4][4],
		double	M[4][4]
	)

DEPRECATED, see matmul_4x4_arr().

◆ doublematrix_product_0()

void doublematrix_product_0	(	double **	M1,
		int	nb_row_M1,
		int	nb_col_M1,
		double **	M2,
		int	nb_col_M2,
		double **	M
	)

Compute the product of two matrices of given shape. The first index is 0.

The memory of the output matrix M must already been allocated. See get_dmat_0() to such matrix creation.

Parameters

[in]	M1	matrix of size (nb_row_M1 x nb_col_M1).
[in]	nb_row_M1	number of rows of the matrix M1.
[in]	nb_col_M1	number of columns of the matrix M1.
[in]	M2	matrix of size (nb_col_M1 x nb_col_M2).
[in]	nb_col_M2	number of columns of the matrix M2.
[in,out]	M	matrix of size (nb_row_M1 x nb_col_M2) such as $\textbf{M} = \textbf{M1} \ \textbf{M2}$ .

◆ doublematrix_product_1()

void doublematrix_product_1	(	double **	M1,
		int	nb_row_M1,
		int	nb_col_M1,
		double **	M2,
		int	nb_col_M2,
		double **	M
	)

Compute the product of two matrices of given shape. The first index is 1.

The memory of the output matrix M must already been allocated. See get_dmat_1() to such matrix creation.

Parameters

[in]	M1	matrix of size (nb_row_M1 x nb_col_M1) plus first line and row unused.
[in]	nb_row_M1	number of rows of the matrix M1 (without counting the unused first row/colum).
[in]	nb_col_M1	number of columns of the matrix M1 (without counting the unused first row/colum).
[in]	M2	matrix of size (nb_col_M1 x nb_col_M2) plus first line and row unused.
[in]	nb_col_M2	number of columns of the matrix M2 (without counting the unused first row/colum).
[in,out]	M	Matrix of size (nb_row_M1 x nb_col_M2) such as $\textbf{M} = \textbf{M1} \ \textbf{M2}$ .

◆ free_dmat_0()

void free_dmat_0 ( double ** mat )

release memory for a matrix of doubles, starting at index 0

Parameters

[out] mat matrix of doubles

◆ free_dmat_1()

void free_dmat_1 ( double ** mat )

release memory for a matrix of doubles, starting at index 1

Parameters

[out] mat matrix of doubles

◆ free_imat_0()

void free_imat_0 ( int ** mat )

release memory for a matrix of integers, starting with index 0

Parameters

[out] mat matrix of integers

◆ free_imat_1()

void free_imat_1 ( int ** mat )

release memory for a matrix of integers, starting with index 1

Parameters

[out] mat matrix of integers

◆ get_contdmat_1()

double** get_contdmat_1	(	int	nb_r,
		int	nb_c
	)

create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 1. The allocated memory is CONTIGUOUS (adapted for Lapack routine)

Parameters

[in]	nb_r	nb of rows (0 element not taken into account)
[in]	nb_c	nb of columns (0 element not taken into account)

Returns: requested matrix of doubles

◆ get_dmat_0()

double** get_dmat_0	(	int	nb_r,
		int	nb_c
	)

create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 0 The function returns NULL if the requested number of rows or columns is negative or null.

Parameters

[in]	nb_r	nb of rows
[in]	nb_c	nb of columns

Returns: requested matrix of doubles or NULL if nb_r <= 0 OR nb_c <= 0

◆ get_dmat_1()

double** get_dmat_1	(	int	nb_r,
		int	nb_c
	)

create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 1

Parameters

[in]	nb_r	nb of rows (0 element not taken into account)
[in]	nb_c	nb of columns (0 element not taken into account)

Returns: requested matrix of doubles

◆ get_dmatfiles_size()

int get_dmatfiles_size	(	const char *	fileName,
		int *	n_row,
		int *	n_col
	)

Function to load a file and calculate the number of rows and columns.

Parameters

[in]	fileName	Name of the file containing the results to load. The first column contains the time. The other columns contain the coordinates.
[in,out]	n_row	nb of rows
[in,out]	n_col	nb of columns

Returns

The status:

0: Correct excecution number of rows and cols computed;
-1: Unable to open specified file;
-2: Empty specified file;
-3: At least one argument is a pointer to NULL;

◆ get_imat_0()

int** get_imat_0	(	int	nb_r,
		int	nb_c
	)

create (with memory allocation) a [nb_r times nb_c] matrix of integers, starting at index 0. The function returns NULL if the requested number of rows or columns is negative or null.

Parameters

[in]	nb_r	= nb of rows
[in]	nb_c	= nb of columns

Returns: requested matrix of integers or NULL if nb_r <= 0 OR nb_c <= 0

◆ get_imat_1()

int** get_imat_1	(	int	nb_r,
		int	nb_c
	)

create (with memory allocation) a [nb_r times nb_c] matrix of integers, starting at index 1

Parameters

[in]	nb_r	= nb of rows (0 element not taken into account)
[in]	nb_c	= nb of columns (0 element not taken into account)

Returns: requested matrix of integers

◆ identity_dmat_3x3_arr()

int identity_dmat_3x3_arr ( double mat[3][3] )

Set the matrix to identity (diagonal to 1, outside to 0).

The first index is 0, the dimension of the array is 3x3:

For pointer (double **mat) see identity_dmat_3x3_ptr();
For size 4x4 see identity_dmat_4x4_arr();

Parameters

[in,out] mat Pointer to the matrix to be set to identity.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE (macro in mbs_hefine.h)

◆ identity_dmat_3x3_ptr()

double** identity_dmat_3x3_ptr ( double ** mat )

Set the matrix to identity (diagonal to 1, outside to 0).

The first index is 0, the pointer should point to 3 pointers of 3 doubles:

For array (double mat[3][3]) see identity_dmat_3x3_arr();
For size 4x4 see identity_dmat_4x4_ptr();

A new matrix is allocated if mat is NULL. The memory must be freed by the caller.

Parameters

[in,out] mat Pointer to the matrix to be set to identity. NULL can be provided.

Returns: It return the adress of the identity matrix. This is the argument mat except if it was NULL.

◆ identity_dmat_4x4_arr()

int identity_dmat_4x4_arr ( double mat[4][4] )

Set the matrix to identity (diagonal to 1, outside to 0).

The first index is 1, the dimension of the array is 4x4:

For pointer (double **mat) see identity_dmat_4x4_ptr();
For size 3x3 see identity_dmat_3x3_arr();

Parameters

[in,out] mat Pointer to the matrix to be set to identity.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE (macro in mbs_hefine.h)

◆ identity_dmat_4x4_ptr()

double** identity_dmat_4x4_ptr ( double ** mat )

Set the matrix to identity (diagonal to 1, outside to 0).

The first index is 1, the pointer should point to 4 pointers of 4 doubles:

For array (double mat[4][4]) see identity_dmat_4x4_arr();
For size 3x3 see identity_dmat_3x3_ptr();

The first row and column are copied even if index 1 is supposed to not be used.

A new matrix is allocated if res is NULL. The memory must be freed by the caller.

Parameters

[in,out] mat Pointer to the matrix to be set to identity. NULL can be provided.

Returns: It return the adress of the identity matrix. This is the argument mat except if it was NULL.

◆ load_dmat_0()

double** load_dmat_0	(	int	nb_r,
		int	nb_c,
		char *	name
	)

load a [nb_r times nb_c] matrix of doubles from a file starting with index 0. The matrix is created (memory allocation) and filled with the values from the file.

Parameters

[in]	nb_r	nb of rows
[in]	nb_c	nb of columns
[in]	name	the path an name of the file in which loading the matrix

◆ matmul_3x3_arr()

void matmul_3x3_arr	(	double	res[3][3],
		double	mat_1[3][3],
		double	mat_2[3][3]
	)

Compute the product of two matrices.

The dimension of the array is 3x3:

For pointer (double **R) see matmul_3x3_ptr()
For size 4x4 see matmul_4x4_arr()

The function support in place computation.

Parameters

[out]	res	The results: $\textbf{res} = \textbf{mat_1} \ \textbf{mat_2}$ (first line and row unused). This can be the same array as `mat_1` or `mat_2`.
[in,out]	mat_1	Matrix of size 3x3.
[in,out]	mat_2	Matrix of size 3x3.

◆ matmul_3x3_ptr()

double** matmul_3x3_ptr	(	double **	res,
		double **	mat_1,
		double **	mat_2
	)

Compute the product of two matrices.

The first index is 0, the pointer should point to 3 pointers of 3 doubles:

For array (double R[3][3]) see matmul_3x3_arr()
For size 4x4 see matmul_4x4_ptr()
For other size see doublematrix_product_0()

The function support in place computation.

A new matrix is allocated if res is NULL. The memory must be freed by the caller.

Parameters

[out]	res	The results: $\textbf{res} = \textbf{mat_1} \ \textbf{mat_2}$ (first line and row unused). This can be the same array as `mat_1` or `mat_2`.
[in,out]	mat_1	Matrix of size 3x3.
[in,out]	mat_2	Matrix of size 3x3.

Returns: It return the adress of the result. This is the argument res except if it was NULL.

◆ matmul_4x4_arr()

void matmul_4x4_arr	(	double	res[4][4],
		double	mat_1[4][4],
		double	mat_2[4][4]
	)

Compute the product of two matrices.

The first index is 1, the dimension of the array is 4x4:

For pointer (double **R) see matmul_4x4_ptr()
For size 3x3 see matmul_3x3_arr()

The function support in place computation.

Parameters

[out]	res	The results: $\textbf{res} = \textbf{mat_1} \ \textbf{mat_2}$ (first line and row unused). This can be the same array as `mat_1` or `mat_2`.
[in,out]	mat_1	Matrix of size 4x4 with first line and row unused.
[in,out]	mat_2	Matrix of size 4x4 with first line and row unused.

◆ matmul_4x4_ptr()

double** matmul_4x4_ptr	(	double **	res,
		double **	mat_1,
		double **	mat_2
	)

Compute the product of two matrices.

The first index is 1, the pointer should point to 4 pointers of 4 doubles:

For array (double R[4][4]) see matmul_4x4_arr()
For size 3x3 see matmul_3x3_ptr()
For other size see doublematrix_product_1()

The function support in place computation.

A new matrix is allocated if res is NULL. The memory must be freed by the caller.

Parameters

[out]	res	The results: $\textbf{res} = \textbf{mat_1} \ \textbf{mat_2}$ (first line and row unused). This can be the same array as `mat_1` or `mat_2`.
[in,out]	mat_1	Matrix of size 4x4.
[in,out]	mat_2	Matrix of size 4x4.

Returns: It return the adress of the result. This is the argument res except if it was NULL.

◆ matrix_product()

void matrix_product	(	double	M[4][4],
		double	v[4],
		double	Mv[4]
	)

DEPRECATED, see dot_4x4_arr()

◆ matrix_product_0()

void matrix_product_0	(	double **	M,
		double *	v,
		double *	Mv,
		int	nr,
		int	nc
	)

DEPRECATED, see dot_ptr_0()

◆ matrix_product_1()

void matrix_product_1	(	double **	M,
		double *	v,
		double *	v_out,
		int	nr,
		int	nc
	)

DEPRECATED, see dot_ptr_1()

◆ mult_dmat_0()

void mult_dmat_0	(	double **	A,
		double **	B,
		double **	C,
		int	n1,
		int	n2,
		int	n3
	)

function to multiply two matrices: A * B = C [n1 n2] [n2 n3] = [n1 n3]

Parameters

[in]	A	the matrix A
[in]	B	the matrix B
[out]	C	the matrix C
[in]	n1	first size
[in]	n2	second size
[in]	n3	third size

◆ opposite_dmat_0()

void opposite_dmat_0	(	double **	A,
		int	n1,
		int	n2
	)

function to take the opposite of a given matrix (minus in front of each entry)

Parameters

[in]	A	the matrix A
[in]	n1	first size
[in]	n2	second size

◆ print_dmat_0()

void print_dmat_0	(	double **	mat,
		int	nb_r,
		int	nb_c
	)

print a [nb_r times nb_c] matrix of doubles in console, starting with index 0

call print_format_dmat_0 with default parameter (format = "% -f").

Parameters

[in]	mat	the matrix to be printed
[in]	nb_r	nb of rows
[in]	nb_c	nb of columns

◆ print_format_dmat_0()

void print_format_dmat_0	(	double **	mat,
		int	nb_r,
		int	nb_c,
		char *	format
	)

print a [nb_r times nb_c] matrix of doubles in console, starting with index 0

Parameters

[in]	mat	the matrix to be printed
[in]	nb_r	nb of rows
[in]	nb_c	nb of columns
[in]	format	the chosen format.

◆ print_imat_0()

void print_imat_0	(	int **	mat,
		int	nb_r,
		int	nb_c
	)

print a [nb_r times nb_c] matrix of integers in console, starting with index 0

Parameters

[in]	mat	the matrix to be printed
[in]	nb_r	nb of rows
[in]	nb_c	nb of columns

◆ re_copy_dmat_0()

double** re_copy_dmat_0	(	double **	src,
		int	s_nx,
		int	s_ny,
		double **	dest,
		int	d_nx,
		int	d_ny
	)

Copy a 2D array of double into another, reallocate the destination if required.

Parameters

[in]	src	Source array to be copied, NULL pointer will free `dest`.
[in]	s_nx	Size along axis 0 of the source array, 0 value will free `dest`.
[in]	s_ny	Size along axis 1 of the source array, 0 value will free `dest`.
[out]	dest	Destination array to be filled. The array is reallocated if `s_nx` does not match `d_nx`. It is allocated if NULL is provided.
[in]	d_nx	Size along axis 0 of the source array. If 0, `dest` is reallocated.
[in]	d_ny	Size along axis 1 of the source array. If 0, `dest` is reallocated.

Returns: NULL if dest has been freed, the pointer to the memory containing the copy. If (re)allocation has occured, the memory is CONTIGUOUS.

◆ re_copy_dmat_1()

double** re_copy_dmat_1	(	double **	src,
		int	s_nx,
		int	s_ny,
		double **	dest,
		int	d_nx,
		int	d_ny
	)

Copy a 2D array of double into another, reallocate the destination if required.

Parameters

[in]	src	Source array to be copied, NULL pointer will free `dest`.
[in]	s_nx	Size along axis 0 of the source array.
[in]	s_ny	Size along axis 1 of the source array.
[out]	dest	Destination array to be filled. The array is reallocated if `s_nx` and `s_ny` does not match `d_nx` and `d_ny`. It is allocated if NULL is provided.
[in]	d_nx	Size along axis 0 of the source array.
[in]	d_ny	Size along axis 1 of the source array.

Returns: NULL if dest has been freed, the pointer to the memory containing the copy. If (re)allocation has occured, the memory is CONTIGUOUS.

◆ read_dmat_0()

int read_dmat_0	(	double **	mat,
		int	nb_r,
		int	nb_c,
		const char *	name
	)

read a [nb_r times nb_c] matrix of doubles from a file starting with index 0 and store the values in a matrix provided by the user. The first nb_r line of the file are loaded, other lines are ignored.

Parameters

[in]	nb_r	nb of rows
[in]	nb_c	nb of columns
[in]	name	the path an name of the file in which reading the matrix
[in,out]	mat	allocated array for storing the file

Returns: Error status, <0 in case of failure.

◆ readmatrix()

void readmatrix	(	double **	matrix,
		int *	n
	)

function to read a matrix (obsolete?)

Parameters

[in,out]	matrix	the matrix
[in]	n	the vector n

◆ rotation_matrix()

int rotation_matrix	(	int	type,
		double	angle,
		double	R[4][4]
	)

DEPRECATED, see rotation_matrix_4x4_arr().

◆ rotation_matrix_3x3_ptr()

int rotation_matrix_3x3_ptr	(	int	type,
		double	angle,
		double **	R
	)

Compute the rotation matrix for a specified angle around a specific axis.

The first index is 0, the dimension of the array is 3x3:

For pointer (double **R) see rotation_matrix_3x3_ptr()
For size 4x4 see rotation_matrix_4x4_arr

Consider:

O: the original frame;
The rotation around the specified axis;
D: the destination frame;

Then the function returns the matrix $\mathbf{R\_D\_O}$ . It allows to pass the coordinates of a vector between frames:

\f\mathbf{vec_D} =$\mathbf{R_D_O}\cdot\mathbf{vec_O} $\param[in] type integer for axis selection: -$ @_fakenl1=\hat{X} $; - $ @_fakenl2=\hat{Y} $; - $ @_fakenl3=\hat{Z} $; \param[in] angle value of the rotation angle expressed in radians. \param[in,out] R corresponding rotation matrix as an array of size 3x3 with first line and row unused. \return MBS_INFO_SUCCESS or MBS_INFO_FAILURE (invalid axis type). */ int rotation_matrix_3x3_arr(int type, double angle, double R[3][3]); /*! \brief Compute the rotation matrix for a specified angle around a specific axis. The first index is 0, the pointer should point to 3 pointers of 3 doubles: - For array (double R[3][3]) see rotation_matrix_3x3_arr() - For size 4x4 see rotation_matrix_4x4_ptr Consider: 1. `O`: the original frame; 2. The rotation around the specified axis; 3. `D`: the destination frame; Then the function returns the matrix$ \mathbf{R_D_O} $. It allows to pass the coordinates of a vector between frames: \f\mathbf{vec\_D} =$\mathbf{R\_D\_O}\cdot\mathbf{vec\_O}$

Parameters

[in]	type	integer for axis selection: $1=\hat{X}$ ; $2=\hat{Y}$ ; $3=\hat{Z}$ ;
[in]	angle	value of the rotation angle expressed in radians.
[in,out]	R	corresponding rotation matrix as pointer of size 3x3 with first line and row unused.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE (invalid axis type).

◆ rotation_matrix_4x4_ptr()

int rotation_matrix_4x4_ptr	(	int	type,
		double	angle,
		double **	R
	)

Compute the rotation matrix for a specified angle around a specific axis.

The first index is 1, the dimension of the array is 4x4:

For pointer (double **R) see rotation_matrix_4x4_ptr()
For size 3x3 see rotation_matrix_3x3_arr()

Consider:

O: the original frame;
The rotation around the specified axis;
D: the destination frame;

Then the function returns the matrix $\mathbf{R\_D\_O}$ . It allows to pass the coordinates of a vector between frames:

\f\mathbf{vec_D} =$\mathbf{R_D_O}\cdot\mathbf{vec_O} $\param[in] type integer for axis selection: -$ @_fakenl1=\hat{X} $; - $ @_fakenl2=\hat{Y} $; - $ @_fakenl3=\hat{Z} $; \param[in] angle value of the rotation angle expressed in radians. \param[in,out] R corresponding rotation matrix as an array of size 4x4 with first line and row unused. \return MBS_INFO_SUCCESS or MBS_INFO_FAILURE (invalid axis type). */ int rotation_matrix_4x4_arr(int type, double angle, double R[4][4]); /*! \brief Compute the rotation matrix for a specified angle around a specific axis. The first index is 1, the pointer should point to 4 pointers of 4 doubles: - For array (double R[4][4]) see rotation_matrix_4x4_arr() - For size 3x3 see rotation_matrix_3x3_ptr Consider: 1. `O`: the original frame; 2. The rotation around the specified axis; 3. `D`: the destination frame; Then the function returns the matrix$ \mathbf{R_D_O} $. It allows to pass the coordinates of a vector between frames: \f\mathbf{vec\_D} =$\mathbf{R\_D\_O}\cdot\mathbf{vec\_O}$

Parameters

[in]	type	integer for axis selection: $1=\hat{X}$ ; $2=\hat{Y}$ ; $3=\hat{Z}$ ;
[in]	angle	value of the rotation angle expressed in radians.
[in,out]	R	corresponding rotation matrix as pointer of size 4x4 with first line and row unused.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE (invalid axis type).

◆ same_dmat_0()

int same_dmat_0	(	double **	a,
		double **	b,
		int	x,
		int	y
	)

Compare if two 2D arrays of floats are the same.

Parameters

[in]	a	The first array, starting with index 0.
[in]	b	The second array, starting with index 0.
[in]	x	The number of rows.
[in]	y	The number of cols.

Returns: 1 if arrays are the same, 0 otherwise.

◆ save_dmat_0()

int save_dmat_0	(	double **	mat,
		int	nb_r,
		int	nb_c,
		char *	name
	)

save a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0

It call save_format_dmat_0() with default parameter (format = "%12.5e").

More details about the behavior, the parameters and errors in save_format_dmat_0().

Parameters

[in]	mat	the matrix to save, starting with index 0
[in]	nb_r	nb of rows
[in]	nb_c	nb of columns
[in]	name	the path and name of the file in which saving the matrix

Returns: Negative in case of error, 0 otherwhise.

◆ save_format_dmat_0()

int save_format_dmat_0	(	double **	mat,
		int	nb_r,
		int	nb_c,
		char *	name,
		char *	format
	)

save a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0.

The file is open with the option "wt".

The function will create, if missing, the directory for the file.

The value are separated by space, the file ends at the end of the last line of value (no blank final line).

Providing a NULL matrix pointer with null size in both dimension (nb_r, nb_c) write an empty file. Mixing null (NULL or 0) and non-null values generates an error.

Parameters

[in]	mat	the matrix to save, starting with index 0. Can be NULL if the number of rows and columns are 0.
[in]	nb_r	Number of rows, must be positive (or null under conditions).
[in]	nb_c	Number of columns, must be positive (or null under conditions).
[in]	name	The path and name of the file in which saving the matrix. The function will try to create the path if needed.
[in]	format	The chosen format to print the datas.

Returns: Negative in case of error, 0 otherwhise.

◆ scale_matrix()

void scale_matrix	(	double **	matrix,
		int *	n,
		int *	initzeros
	)

function to scale matrix (obsolete?)

Parameters

[in,out]	matrix	the matrix
[in]	n	the vector n
[in,out]	initzeros	the vector to arrange

◆ set_diag_dmat_0()

int set_diag_dmat_0	(	double **	mat,
		int	size,
		double	value
	)

Set a diagonal matrix with the given value.

Out-of-diagonal elements are set to zero.

Parameters

mat	Pointer to the matrix, starting with index 0.
size	The size of the matrix.
value	The value to be set on the diagonal

Returns: MBS_INFO_SUCCESS for success. MBS_INFO_FAILURE for error.

◆ set_identity_dmat_0()

int set_identity_dmat_0	(	double **	mat,
		int	size
	)

Set a matrix to identity matrix. Out-of-diagonal elements are set to zero.

Parameters

mat	Pointer to the matrix, starting with index 0.
size	The size of the matrix.

Returns: MBS_INFO_SUCCESS for success. Other outputs defined in set_diag_dmat_0(). Negative in case of failure.

◆ slct_dmat_0()

int slct_dmat_0	(	double **	tab_src,
		int	nb_r,
		int	nb_c,
		double **	tab_out,
		int	l_vec,
		int *	vec
	)

fill the second [nb_r times l_vec] matrix by selecting the columns of the first [nb_r times nb_c] matrix of doubles. The indexes of the columns are specified in the (l_vec sized) vector, starting with index 0

Parameters

[in]	tab_src	the matrix containing the original values of doubles to be sliced
[in]	nb_r	nb of rows of the matrices
[in]	nb_c	nb of columns of the first matrix (unused)
[out]	tab_out	the sliced matrix such as tab_out[i][j] = tab_src[i][vec[j]], starting with index 0. The matrix have to be already allocated to a sufficient size.
[in]	l_vec	the size of the vector vec
[in]	vec	the vector containing the indexes of the slices

Returns: 0 if no error, -1 if a slice index is over y1, -2 if the slice number is negative.

◆ slctr_dmat_0()

int slctr_dmat_0	(	double **	tab_src,
		int	nb_r,
		int	nb_c,
		double **	tab_dest,
		int	l_vec,
		int *	vec
	)

fill the second [l_vec times nb_c] matrix by selecting the rows of the first [nb_r times nb_c] matrix of doubles. The indexes of the rows are specified in the (l_vec sized) vector, starting with index 0

Parameters

[in]	tab_src	the matrix containing the original values of doubles to be sliced
[in]	nb_r	nb of rows of the first matrix (unused)
[in]	nb_c	nb of columns of the matrices
[out]	tab_dest	the sliced matrix such as tab_dest[i][j] = tab_src[vec[i]][j], starting with index 0. The matrix have to be already allocated to a sufficient size.
[in]	l_vec	the size of the vector vec
[in]	vec	the vector containing the indexes of the slices

Returns: 0 if no error, -1 if a slice index is over x1, -2 if the slice number is negative.

◆ sum_dmat_0()

void sum_dmat_0	(	double **	A,
		double **	B,
		double **	C,
		int	n1,
		int	n2
	)

function to sum two matrices: A + B = C

Parameters

[in]	A	the matrix A
[in]	B	the matrix B
[out]	C	the matrix C
[in]	n1	first size
[in]	n2	second size

◆ transpose()

void transpose	(	double	M[4][4],
		double	Mt[4][4]
	)

Compute the transpose of a matrix with first index is 1.

The input and output matrices have unused index 0. See get_dmat_1() to such matrices creation.

Parameters

[in]	M	matrix with first line and row unused.
[in,out]	Mt	the transpose of M, index starting at 1.

◆ transpose_dmat_0()

void transpose_dmat_0	(	double **	tab_src,
		double **	tab_dest,
		int	nb_r,
		int	nb_c
	)

Transpose a [nb_r times nb_c] matrix of doubles and store the results in a [y times nb_r] matrix, starting with index 0.

Parameters

[in]	tab_src	the original matrix of doubles, starting with index 0
[out]	tab_dest	the transpose of tab_src, starting with index 0
[in]	nb_r	nb of rows of tab_src, nb of columns of tab_dest
[in]	nb_c	nb of columns of tab_src, nb of rows of tab_dest

◆ transpose_dmat_1()

void transpose_dmat_1	(	double **	tab_src,
		double **	tab_dest,
		int	x,
		int	y
	)

Transpose a [x times y] matrix of doubles and store the results in a [y times x] matrix, starting with index 1.

Parameters

[in]	tab1	the original matrix of doubles, starting with index 1
[out]	tab2	the transpose of tab1, starting with index 1
[in]	x	nb of rows of tab1, nb of columns of tab2 (without counting the unused first row/colum)
[in]	y	nb of columns of tab1, nb of rows of tab2 (without counting the unused first row/colum)

◆ update_initzeros()

void update_initzeros	(	int *	initzeros,
		double **	matrix,
		int *	n
	)

function to update the initzeros array (obsolete?)

Parameters

[in,out]	initzeros	the vector to initialize
[in,out]	matrix	the matrix
[in]	n	the vector n

◆ zeros_dmat_0()

void zeros_dmat_0	(	double **	mat,
		int	nb_r,
		int	nb_c
	)

set all the element of a [nb_r times nb_c] matrix of doubles to zero, starting with index 0

Parameters

[in]	mat	the matrix to be nullified, starting with index 0
[in]	nb_r	nb of rows
[in]	nb_c	nb of columns

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ make_transpose_arr_3x3

◆ make_transpose_arr_4x4

◆ make_transpose_arr_4x4_to_3x3

Function Documentation

◆ arrange_matrix()

◆ code_dmat_0()

◆ code_dmat_1()

◆ copy_3x3_arr()

◆ copy_3x3_ptr()

◆ copy_4x4_arr()

◆ copy_4x4_ptr()

◆ copy_array_dmat_1()

◆ copy_dmat_0()

◆ copy_dmat_1()

◆ copy_imat_0()

◆ diff_dmat_0()

◆ dot_3x3_arr()

◆ dot_3x3_ptr()

◆ dot_4x4_arr()

◆ dot_4x4_ptr()

◆ dot_nxm_ptr_0()

◆ dot_nxm_ptr_1()

◆ doublematrix_product()

◆ doublematrix_product_0()

◆ doublematrix_product_1()

◆ free_dmat_0()

◆ free_dmat_1()

◆ free_imat_0()

◆ free_imat_1()

◆ get_contdmat_1()

◆ get_dmat_0()

◆ get_dmat_1()

◆ get_dmatfiles_size()

◆ get_imat_0()

◆ get_imat_1()

◆ identity_dmat_3x3_arr()

◆ identity_dmat_3x3_ptr()

◆ identity_dmat_4x4_arr()

◆ identity_dmat_4x4_ptr()

◆ load_dmat_0()

◆ matmul_3x3_arr()

◆ matmul_3x3_ptr()

◆ matmul_4x4_arr()

◆ matmul_4x4_ptr()

◆ matrix_product()

◆ matrix_product_0()

◆ matrix_product_1()

◆ mult_dmat_0()

◆ opposite_dmat_0()

◆ print_dmat_0()

◆ print_format_dmat_0()

◆ print_imat_0()

◆ re_copy_dmat_0()

◆ re_copy_dmat_1()

◆ read_dmat_0()

◆ readmatrix()

◆ rotation_matrix()

◆ rotation_matrix_3x3_ptr()

◆ rotation_matrix_4x4_ptr()

◆ same_dmat_0()

◆ save_dmat_0()

◆ save_format_dmat_0()

◆ scale_matrix()

◆ set_diag_dmat_0()

◆ set_identity_dmat_0()

◆ slct_dmat_0()

◆ slctr_dmat_0()

◆ sum_dmat_0()

◆ transpose()

◆ transpose_dmat_0()

◆ transpose_dmat_1()

◆ update_initzeros()

◆ zeros_dmat_0()