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linear algebra utilities More...

#include <stdio.h>
#include <math.h>

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Functions
static double	matrix_determinant_3x3d (const double m[9])
static int	matrix_inverse_2x2d (const double m[4], double inverse[4])
static int	matrix_inverse_3x3d (const double m[9], double inverse[9])
int	matrix_inverse_4x4d (const double m[16], double inv[16])
static void	matrix_multiply (const double *a, int a_nrows, int a_ncols, const double *b, int b_nrows, int b_ncols, double *result)
static void	matrix_multiply_3x3_3x3 (const double a[9], const double b[9], double r[9])
static void	matrix_multiply_4x4_4x4 (const double a[16], const double b[16], double r[16])
static void	matrix_print (const double *a, int rows, int cols)
static void	matrix_rigid_body_transform_get_rotation_matrix_4x4d (const double m[16], double rot[16])
static void	matrix_rigid_body_transform_get_translation_matrix_4x4d (const double m[16], double t[16])
static int	matrix_rigid_body_transform_inverse_4x4d (const double m[16], double inv[16])
static void	matrix_transpose_3x3d (const double m[9], double result[9])
static void	matrix_transpose_4x4d (const double m[16], double result[16])
static void	matrix_vector_multiply_2x2_2d (const double m[4], const double v[2], double result[2])
static void	matrix_vector_multiply_3x3_3d (const double m[9], const double v[3], double result[3])
static void	matrix_vector_multiply_4x4_4d (const double m[16], const double v[4], double result[4])
static void	vector_add_3d (const double v1[3], const double v2[3], double result[3])
static void	vector_add_nd (const double *v1, const double *v2, int N, double *result)
static double	vector_angle_2d (const double v1[2], const double v2[2])
static double	vector_angle_3d (const double v1[3], const double v2[3])
static void	vector_cross_3d (const double v1[3], const double v2[3], double result[3])
static double	vector_dist_2d (const double v1[2], const double v2[2])
static double	vector_dist_3d (const double v1[3], const double v2[3])
static double	vector_dist_squared_3d (const double v1[3], const double v2[3])
static double	vector_dot_2d (const double v1[2], const double v2[2])
static double	vector_dot_3d (const double v1[3], const double v2[3])
static double	vector_magnitude_2d (const double v[2])
static double	vector_magnitude_3d (const double v[3])
static double	vector_magnitude_squared_2d (const double v[2])
static double	vector_magnitude_squared_3d (const double v[3])
static void	vector_normalize_2d (double v[2])
static void	vector_normalize_3d (double v[3])
static void	vector_print_3d (const double a[3])
static void	vector_saxpy_3d (double a, const double x[3], const double y[3], double z[3])
static void	vector_scale_2d (double v[2], double s)
static void	vector_scale_3d (double v[2], double s)
static void	vector_sub_nd (const double *v1, const double *v2, int N, double *result)
static void	vector_subtract_3d (const double v1[3], const double v2[3], double result[3])
static void	vector_vector_outer_product_3d (const double v1[3], const double v2[3], double result[9])

---

Detailed Description

linear algebra utilities

Definition in file small_linalg.h.

---

Function Documentation

static double matrix_determinant_3x3d

(

const double

m[9]

)

[inline, static]

Definition at line 46 of file small_linalg.h.

static int matrix_inverse_2x2d	(	const double	m[4],
		double	inverse[4]
	)			[inline, static]

Definition at line 76 of file small_linalg.h.

static int matrix_inverse_3x3d	(	const double	m[9],
		double	inverse[9]
	)			[inline, static]

Definition at line 57 of file small_linalg.h.

int matrix_inverse_4x4d	(	const double	m[16],
		double	inv[16]
	)

static void matrix_multiply	(	const double *	a,
		int	a_nrows,
		int	a_ncols,
		const double *	b,
		int	b_nrows,
		int	b_ncols,
		double *	result
	)			[inline, static]

Definition at line 355 of file small_linalg.h.

static void matrix_multiply_3x3_3x3	(	const double	a[9],
		const double	b[9],
		double	r[9]
	)			[inline, static]

Definition at line 340 of file small_linalg.h.

static void matrix_multiply_4x4_4x4	(	const double	a[16],
		const double	b[16],
		double	r[16]
	)			[inline, static]

Definition at line 325 of file small_linalg.h.

static void matrix_print	(	const double *	a,
		int	rows,
		int	cols
	)			[inline, static]

Definition at line 420 of file small_linalg.h.

static void matrix_rigid_body_transform_get_rotation_matrix_4x4d	(	const double	m[16],
		double	rot[16]
	)			[inline, static]

Definition at line 400 of file small_linalg.h.

static void matrix_rigid_body_transform_get_translation_matrix_4x4d	(	const double	m[16],
		double	t[16]
	)			[inline, static]

Definition at line 410 of file small_linalg.h.

static int matrix_rigid_body_transform_inverse_4x4d	(	const double	m[16],
		double	inv[16]
	)			[inline, static]

Definition at line 373 of file small_linalg.h.

static void matrix_transpose_3x3d	(	const double	m[9],
		double	result[9]
	)			[inline, static]

Definition at line 290 of file small_linalg.h.

static void matrix_transpose_4x4d	(	const double	m[16],
		double	result[16]
	)			[inline, static]

Definition at line 304 of file small_linalg.h.

static void matrix_vector_multiply_2x2_2d	(	const double	m[4],
		const double	v[2],
		double	result[2]
	)			[inline, static]

Definition at line 89 of file small_linalg.h.

static void matrix_vector_multiply_3x3_3d	(	const double	m[9],
		const double	v[3],
		double	result[3]
	)			[inline, static]

Definition at line 97 of file small_linalg.h.

static void matrix_vector_multiply_4x4_4d	(	const double	m[16],
		const double	v[4],
		double	result[4]
	)			[inline, static]

Definition at line 106 of file small_linalg.h.

static void vector_add_3d	(	const double	v1[3],
		const double	v2[3],
		double	result[3]
	)			[inline, static]

Definition at line 116 of file small_linalg.h.

static void vector_add_nd	(	const double *	v1,
		const double *	v2,
		int	N,
		double *	result
	)			[inline, static]

Definition at line 124 of file small_linalg.h.

static double vector_angle_2d	(	const double	v1[2],
		const double	v2[2]
	)			[inline, static]

Definition at line 261 of file small_linalg.h.

static double vector_angle_3d	(	const double	v1[3],
		const double	v2[3]
	)			[inline, static]

Definition at line 279 of file small_linalg.h.

static void vector_cross_3d	(	const double	v1[3],
		const double	v2[3],
		double	result[3]
	)			[inline, static]

Definition at line 165 of file small_linalg.h.

static double vector_dist_2d	(	const double	v1[2],
		const double	v2[2]
	)			[inline, static]

Definition at line 213 of file small_linalg.h.

static double vector_dist_3d	(	const double	v1[3],
		const double	v2[3]
	)			[inline, static]

Definition at line 197 of file small_linalg.h.

static double vector_dist_squared_3d	(	const double	v1[3],
		const double	v2[3]
	)			[inline, static]

Definition at line 205 of file small_linalg.h.

static double vector_dot_2d	(	const double	v1[2],
		const double	v2[2]
	)			[inline, static]

Definition at line 153 of file small_linalg.h.

static double vector_dot_3d	(	const double	v1[3],
		const double	v2[3]
	)			[inline, static]

Definition at line 159 of file small_linalg.h.

static double vector_magnitude_2d

(

const double

v[2]

)

[inline, static]

Definition at line 179 of file small_linalg.h.

static double vector_magnitude_3d

(

const double

v[3]

)

[inline, static]

Definition at line 185 of file small_linalg.h.

static double vector_magnitude_squared_2d

(

const double

v[2]

)

[inline, static]

Definition at line 173 of file small_linalg.h.

static double vector_magnitude_squared_3d

(

const double

v[3]

)

[inline, static]

Definition at line 191 of file small_linalg.h.

static void vector_normalize_2d

(

double

v[2]

)

[inline, static]

Definition at line 221 of file small_linalg.h.

static void vector_normalize_3d

(

double

v[3]

)

[inline, static]

Definition at line 229 of file small_linalg.h.

static void vector_print_3d

(

const double

a[3]

)

[inline, static]

Definition at line 432 of file small_linalg.h.

static void vector_saxpy_3d	(	double	a,
		const double	x[3],
		const double	y[3],
		double	z[3]
	)			[inline, static]

Definition at line 254 of file small_linalg.h.

static void vector_scale_2d	(	double	v[2],
		double	s
	)			[inline, static]

Definition at line 238 of file small_linalg.h.

static void vector_scale_3d	(	double	v[2],
		double	s
	)			[inline, static]

Definition at line 245 of file small_linalg.h.

static void vector_sub_nd	(	const double *	v1,
		const double *	v2,
		int	N,
		double *	result
	)			[inline, static]

Definition at line 132 of file small_linalg.h.

static void vector_subtract_3d	(	const double	v1[3],
		const double	v2[3],
		double	result[3]
	)			[inline, static]

vector_subtract_3d:

computes v1 - v2

Definition at line 145 of file small_linalg.h.

static void vector_vector_outer_product_3d	(	const double	v1[3],
		const double	v2[3],
		double	result[9]
	)			[inline, static]

Definition at line 441 of file small_linalg.h.