Matrix.h

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#ifndef MATRIX_H
#define MATRIX_H

#include <iostream.h>
#include <cammva.h>
namespace O_SESSAME {

const int MatrixIndexBase = 1; 
const int VectorIndexBase = 1; 
const int MatrixRowsIndex = 1; 
const int MatrixColsIndex = 2; 
typedef CAMdoubleMatrix Matrix; 
typedef CAMdoubleVector Vector; 
inline Matrix eye(int _rowColumns)
{
    Matrix eyeOutput(_rowColumns,_rowColumns);
    eyeOutput.setToValue(0.0);
    for(int ii = MatrixIndexBase;ii < _rowColumns + MatrixIndexBase; ++ii)
        eyeOutput(ii,ii) = 1.0;
    return eyeOutput;
}

inline double trace(const Matrix &_inMatrix)
{
    double Sum = 0;
    for(int ii = MatrixIndexBase;ii < _inMatrix[MatrixRowsIndex].getIndexCount() + MatrixIndexBase; ++ii)
        Sum += _inMatrix(ii,ii);
    return Sum;
}

inline double norm2(const Vector &_inVector)
{
    double Sum = 0;
    for(int ii = VectorIndexBase;ii < _inVector.getIndexCount() + VectorIndexBase; ++ii)
        Sum += _inVector(ii) * _inVector(ii);
    return sqrt(Sum);
}

inline void normalize(Vector &_inVector)
{
    _inVector /= norm2(_inVector);
    return;
}

inline double normInf(const Vector &_inVector)
{
    return _inVector.maxAbs();
}

inline Matrix skew(const Vector &_inVector)
{
    Matrix Rout(3,3);
    Rout.setToValue(0.0);
    Rout(MatrixIndexBase+0,MatrixIndexBase+1) =
        -_inVector(VectorIndexBase+2);
    Rout(MatrixIndexBase+0,MatrixIndexBase+2) =
        _inVector(VectorIndexBase+1);
    Rout(MatrixIndexBase+1,MatrixIndexBase+0) =
        _inVector(VectorIndexBase+2);
    Rout(MatrixIndexBase+1,MatrixIndexBase+2) =
        -_inVector(VectorIndexBase+0);
    Rout(MatrixIndexBase+2,MatrixIndexBase+0) =
        -_inVector(VectorIndexBase+1);
    Rout(MatrixIndexBase+2,MatrixIndexBase+1) =
        _inVector(VectorIndexBase+0);
    return Rout;
}

inline Vector crossP(const Vector &_v1, const Vector &_v2)
{
    return skew(_v1) * _v2;
}
}
#endif

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