#include <submat.h>

Inheritance diagram for SparseSubMatrixHandler:

Collaboration diagram for SparseSubMatrixHandler:

Classes
class	ErrResize

Public Member Functions
	SparseSubMatrixHandler (integer iTmpInt, integer piTmpIndex, integer iTmpDouble, doublereal pdTmpMat)

	SparseSubMatrixHandler (integer iTmpInt)

virtual	~SparseSubMatrixHandler (void)

integer	iGetNumRows (void) const

integer	iGetNumCols (void) const

void	Resize (integer iNewRow, integer iNewCol)

void	ResizeReset (integer iNewRow, integer iNewCol)

void	Reset (void)

void	Attach (int iNumEntr, doublereal pdTmpMat, integer piTmpIndx)

void	PutCoef (integer iSubIt, integer iDmy, const doublereal &dCoef)

void	IncCoef (integer iSubIt, integer iDmy, const doublereal &dCoef)

void	DecCoef (integer iSubIt, integer iDmy, const doublereal &dCoef)

const doublereal &	dGetCoef (integer iSubIt, integer iDmy) const

const doublereal &	operator() (integer iSubIt, integer iDmy) const

doublereal &	operator() (integer iSubIt, integer iDmy)

void	PutRowIndex (integer iSubIt, integer iRow)

void	PutColIndex (integer iSubIt, integer iCol)

integer	iGetRowIndex (integer iSubIt) const

integer	iGetColIndex (integer iSubIt) const

void	PutItem (integer iSubIt, integer iRow, integer iCol, const doublereal &dCoef)

void	PutDiag (integer iSubIt, integer iFirstRow, integer iFirstCol, const Vec3 &v)

void	PutDiag (integer iSubIt, integer iFirstRow, integer iFirstCol, const doublereal &d)

void	PutCross (integer iSubIt, integer iFirstRow, integer iFirstCol, const Vec3 &v)

void	PutMat3x3 (integer iSubIt, integer iFirstRow, integer iFirstCol, const Mat3x3 &m)

MatrixHandler &	AddTo (MatrixHandler &MH) const

MatrixHandler &	AddToT (MatrixHandler &MH) const

MatrixHandler &	AddTo (FullMatrixHandler &MH) const

MatrixHandler &	AddToT (FullMatrixHandler &MH) const

MatrixHandler &	SubFrom (MatrixHandler &MH) const

MatrixHandler &	SubFromT (MatrixHandler &MH) const

MatrixHandler &	SubFrom (FullMatrixHandler &MH) const

MatrixHandler &	SubFromT (FullMatrixHandler &MH) const

Public Member Functions inherited from SubMatrixHandler
virtual	~SubMatrixHandler (void)

Public Member Functions inherited from MatrixHandler
virtual	~MatrixHandler (void)

virtual const doublereal *	pdGetMat (void) const

virtual doublereal *	pdGetMat (void)

virtual integer *	piGetRows (void) const

virtual integer *	piGetCols (void) const

virtual integer	PacMat (void)

virtual MatrixHandler &	operator= (const MatrixHandler &MH)

virtual MatrixHandler &	operator+= (const SubMatrixHandler &SubMH)

virtual MatrixHandler &	operator-= (const SubMatrixHandler &SubMH)

virtual MatrixHandler &	operator+= (const VariableSubMatrixHandler &SubMH)

virtual MatrixHandler &	operator-= (const VariableSubMatrixHandler &SubMH)

virtual MatrixHandler &	ScalarMul (const doublereal &d)

virtual MatrixHandler &	MatMatMul (MatrixHandler &out, const MatrixHandler &in) const

virtual MatrixHandler &	MatTMatMul (MatrixHandler &out, const MatrixHandler &in) const

virtual MatrixHandler &	MatMatIncMul (MatrixHandler &out, const MatrixHandler &in) const

virtual MatrixHandler &	MatTMatIncMul (MatrixHandler &out, const MatrixHandler &in) const

virtual MatrixHandler &	MatMatDecMul (MatrixHandler &out, const MatrixHandler &in) const

virtual MatrixHandler &	MatTMatDecMul (MatrixHandler &out, const MatrixHandler &in) const

virtual VectorHandler &	MatVecMul (VectorHandler &out, const VectorHandler &in) const

virtual VectorHandler &	MatTVecMul (VectorHandler &out, const VectorHandler &in) const

virtual VectorHandler &	MatVecIncMul (VectorHandler &out, const VectorHandler &in) const

virtual VectorHandler &	MatTVecIncMul (VectorHandler &out, const VectorHandler &in) const

virtual VectorHandler &	MatVecDecMul (VectorHandler &out, const VectorHandler &in) const

virtual VectorHandler &	MatTVecDecMul (VectorHandler &out, const VectorHandler &in) const

virtual doublereal	ConditionNumber (enum Norm_t eNorm=NORM_1) const

virtual doublereal	Norm (enum Norm_t eNorm=NORM_1) const

Private Member Functions
	SparseSubMatrixHandler (const SparseSubMatrixHandler &)

Private Attributes
bool	bOwnsMemory

integer	iIntSize

integer	iDoubleSize

integer	iNumItems

integer *	piRowm1

integer *	piColm1

doublereal *	pdMatm1

Friends
class	SparseMatrixHandler

class	FullMatrixHandler

class	NaiveMatrixHandler

class	NaivePermMatrixHandler

Additional Inherited Members
Public Types inherited from MatrixHandler
enum	Norm_t { NORM_1, NORM_INF }

Protected Member Functions inherited from MatrixHandler
virtual MatrixHandler &	MatMatMul_base (void(MatrixHandler::*op)(integer iRow, integer iCol, const doublereal &dCoef), MatrixHandler &out, const MatrixHandler &in) const

virtual MatrixHandler &	MatTMatMul_base (void(MatrixHandler::*op)(integer iRow, integer iCol, const doublereal &dCoef), MatrixHandler &out, const MatrixHandler &in) const

virtual VectorHandler &	MatVecMul_base (void(VectorHandler::*op)(integer iRow, const doublereal &dCoef), VectorHandler &out, const VectorHandler &in) const

virtual VectorHandler &	MatTVecMul_base (void(VectorHandler::*op)(integer iRow, const doublereal &dCoef), VectorHandler &out, const VectorHandler &in) const

Detailed Description

Definition at line 744 of file submat.h.

Constructor & Destructor Documentation

SparseSubMatrixHandler::SparseSubMatrixHandler ( const SparseSubMatrixHandler & )

private

SparseSubMatrixHandler::SparseSubMatrixHandler	(	integer	iTmpInt,
		integer *	piTmpIndex,
		integer	iTmpDouble,
		doublereal *	pdTmpMat
	)

Definition at line 972 of file submat.cc.

References ASSERT, iNumItems, pdMatm1, piColm1, and piRowm1.

 : bOwnsMemory(false),
 iIntSize(iTmpInt), iDoubleSize(iTmpDouble),
 iNumItems(iTmpInt/2),
 piRowm1(0), piColm1(0),
 pdMatm1(0)
 {
         ASSERT(piTmpIndex);
         ASSERT(pdTmpMat);
 
         piRowm1 = piTmpIndex - 1;
         piColm1 = piRowm1 + iNumItems;
 
         pdMatm1 = pdTmpMat - 1;
 
 #ifdef DEBUG
         IsValid();
 #endif /* DEBUG */
 }

SparseSubMatrixHandler::SparseSubMatrixHandler ( integer iTmpInt )

Definition at line 993 of file submat.cc.

References bOwnsMemory, iIntSize, iNumItems, pdMatm1, piColm1, piRowm1, and SAFENEWARR.

 : iIntSize(2*iTmpInt), iDoubleSize(iTmpInt),
 iNumItems(iTmpInt), piRowm1(0), piColm1(0), pdMatm1(0)
 {
         SAFENEWARR(pdMatm1, doublereal, iNumItems);
         pdMatm1--;
 
         SAFENEWARR(piRowm1, integer, iIntSize);
         piRowm1--;
         piColm1 = piRowm1 + iNumItems;
         
         bOwnsMemory = true;
 }

SparseSubMatrixHandler::~SparseSubMatrixHandler ( void )

virtual

Definition at line 1011 of file submat.cc.

References bOwnsMemory, pdMatm1, piRowm1, and SAFEDELETEARR.

 {
         if (bOwnsMemory) {
                 pdMatm1++;
                 SAFEDELETEARR(pdMatm1);
 
                 piRowm1++;
                 SAFEDELETEARR(piRowm1);
         }
 }

Member Function Documentation

MatrixHandler & SparseSubMatrixHandler::AddTo ( MatrixHandler & MH ) const

virtual

Implements SubMatrixHandler.

Reimplemented in VariableSubMatrixHandler.

Definition at line 1415 of file submat.cc.

References ASSERT, MatrixHandler::iGetNumCols(), MatrixHandler::iGetNumRows(), iNumItems, pdMatm1, piColm1, and piRowm1.

Referenced by VariableSubMatrixHandler::AddTo().

 {
 #ifdef DEBUG
         IsValid();
         MH.IsValid();
 #endif /* DEBUG */
 
         for (integer i = iNumItems; i > 0; i--) {
                 ASSERT(piRowm1[i] > 0);
                 ASSERT(piRowm1[i] <= MH.iGetNumRows());
                 ASSERT(piColm1[i] > 0);
                 ASSERT(piColm1[i] <= MH.iGetNumCols());
 
                 MH(piRowm1[i], piColm1[i]) += pdMatm1[i];
         }
 
         return MH;
 }

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MatrixHandler & SparseSubMatrixHandler::AddTo ( FullMatrixHandler & MH ) const

Definition at line 1459 of file submat.cc.

References ASSERT, FullMatrixHandler::iGetNumCols(), FullMatrixHandler::iGetNumRows(), iNumItems, pdMatm1, piColm1, piRowm1, and FullMatrixHandler::ppdColsm1.

 {
 #ifdef DEBUG
         IsValid();
         MH.IsValid();
 #endif /* DEBUG */
 
         doublereal **ppd = MH.ppdColsm1;
 
         for (integer i = iNumItems; i > 0; i--) {
                 ASSERT(piRowm1[i] > 0);
                 ASSERT(piRowm1[i] <= MH.iGetNumRows());
                 ASSERT(piColm1[i] > 0);
                 ASSERT(piColm1[i] <= MH.iGetNumCols());
 
                 ppd[piColm1[i]][piRowm1[i]] += pdMatm1[i];
         }
 
         return MH;
 }

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MatrixHandler & SparseSubMatrixHandler::AddToT ( MatrixHandler & MH ) const

virtual

Implements SubMatrixHandler.

Reimplemented in VariableSubMatrixHandler.

Definition at line 1437 of file submat.cc.

References ASSERT, MatrixHandler::iGetNumCols(), MatrixHandler::iGetNumRows(), iNumItems, pdMatm1, piColm1, and piRowm1.

Referenced by VariableSubMatrixHandler::AddToT().

 {
 #ifdef DEBUG
         IsValid();
         MH.IsValid();
 #endif /* DEBUG */
 
         for (integer i = iNumItems; i > 0; i--) {
                 ASSERT(piRowm1[i] > 0);
                 ASSERT(piRowm1[i] <= MH.iGetNumCols());
                 ASSERT(piColm1[i] > 0);
                 ASSERT(piColm1[i] <= MH.iGetNumRows());
 
                 MH(piColm1[i], piRowm1[i]) += pdMatm1[i];
         }
 
         return MH;
 }

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MatrixHandler & SparseSubMatrixHandler::AddToT ( FullMatrixHandler & MH ) const

Definition at line 1483 of file submat.cc.

References ASSERT, FullMatrixHandler::iGetNumCols(), FullMatrixHandler::iGetNumRows(), iNumItems, pdMatm1, piColm1, piRowm1, and FullMatrixHandler::ppdColsm1.

 {
 #ifdef DEBUG
         IsValid();
         MH.IsValid();
 #endif /* DEBUG */
 
         doublereal **ppd = MH.ppdColsm1;
 
         for (integer i = iNumItems; i > 0; i--) {
                 ASSERT(piRowm1[i] > 0);
                 ASSERT(piRowm1[i] <= MH.iGetNumCols());
                 ASSERT(piColm1[i] > 0);
                 ASSERT(piColm1[i] <= MH.iGetNumRows());
 
                 ppd[piRowm1[i]][piColm1[i]] += pdMatm1[i];
         }
 
         return MH;
 }

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void SparseSubMatrixHandler::Attach	(	int	iNumEntr,
		doublereal *	pdTmpMat,
		integer *	piTmpIndx
	)

Definition at line 1095 of file submat.cc.

References ASSERT, bOwnsMemory, iDoubleSize, iIntSize, iNumItems, pdMatm1, piColm1, piRowm1, and SAFEDELETEARR.

 {
         if (bOwnsMemory) {
                 piRowm1++;
                 SAFEDELETEARR(piRowm1);
 
                 pdMatm1++;
                 SAFEDELETEARR(pdMatm1);
 
                 bOwnsMemory = false;
         }
 
         ASSERT(iNumEntr > 0);
         ASSERT(piTmpIndx);
         ASSERT(pdTmpMat);
 
         iIntSize = iNumEntr*2;
         iDoubleSize = iNumEntr;
         iNumItems = iNumEntr;
         piRowm1 = piTmpIndx - 1;
         piColm1 = piRowm1 + iNumEntr;
         pdMatm1 = pdTmpMat - 1;
 
 #ifdef DEBUG
         IsValid();
 #endif /* DEBUG */
 }

void SparseSubMatrixHandler::DecCoef	(	integer	iSubIt,
		integer	iDmy,
		const doublereal &	dCoef
	)

inlinevirtual

Reimplemented from MatrixHandler.

Definition at line 884 of file submat.h.

References ASSERT, iNumItems, and pdMatm1.

                                                                        {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
                 pdMatm1[iSubIt] -= dCoef;
         };

const doublereal& SparseSubMatrixHandler::dGetCoef	(	integer	iSubIt,
		integer	iDmy
	)		const

inlinevirtual

Reimplemented from MatrixHandler.

Definition at line 897 of file submat.h.

References ASSERT, iNumItems, and pdMatm1.

Referenced by testSubVecAss(), and testSubVecAssMatVec().

                                                      {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
 
                 return pdMatm1[iSubIt];
         };

integer SparseSubMatrixHandler::iGetColIndex ( integer iSubIt ) const

inlinevirtual

Implements SubMatrixHandler.

Definition at line 979 of file submat.h.

References ASSERT, iNumItems, and piColm1.

Referenced by testSubVecAss(), and testSubVecAssMatVec().

                                            {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
 
                 return piColm1[iSubIt];
         };

integer SparseSubMatrixHandler::iGetNumCols ( void ) const

inlinevirtual

Implements MatrixHandler.

Definition at line 821 of file submat.h.

                                         {
                  return 1;
         };

integer SparseSubMatrixHandler::iGetNumRows ( void ) const

inlinevirtual

Implements MatrixHandler.

Definition at line 812 of file submat.h.

References iNumItems.

Referenced by testSubVecAss(), and testSubVecAssMatVec().

                                         {
                 return iNumItems;
         };

integer SparseSubMatrixHandler::iGetRowIndex ( integer iSubIt ) const

inlinevirtual

Implements SubMatrixHandler.

Definition at line 965 of file submat.h.

References ASSERT, iNumItems, and piRowm1.

Referenced by testSubVecAss(), and testSubVecAssMatVec().

                                            {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
 
                 return piRowm1[iSubIt];
         };

void SparseSubMatrixHandler::IncCoef	(	integer	iSubIt,
		integer	iDmy,
		const doublereal &	dCoef
	)

inlinevirtual

Reimplemented from MatrixHandler.

Definition at line 871 of file submat.h.

References ASSERT, iNumItems, and pdMatm1.

                                                                        {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
                 pdMatm1[iSubIt] += dCoef;
         };

const doublereal& SparseSubMatrixHandler::operator()	(	integer	iSubIt,
		integer	iDmy
	)		const

inlinevirtual

Implements MatrixHandler.

Reimplemented in VariableSubMatrixHandler.

Definition at line 911 of file submat.h.

References ASSERT, iNumItems, and pdMatm1.

                                                          {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
 
                 return pdMatm1[iSubIt];
         };

doublereal& SparseSubMatrixHandler::operator()	(	integer	iSubIt,
		integer	iDmy
	)

inlinevirtual

Implements MatrixHandler.

Reimplemented in VariableSubMatrixHandler.

Definition at line 925 of file submat.h.

References ASSERT, iNumItems, and pdMatm1.

                                                    {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
 
                 return pdMatm1[iSubIt];
         };

void SparseSubMatrixHandler::PutCoef	(	integer	iSubIt,
		integer	iDmy,
		const doublereal &	dCoef
	)

inlinevirtual

Reimplemented from MatrixHandler.

Definition at line 857 of file submat.h.

References ASSERT, iNumItems, and pdMatm1.

                                                                        {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
 
                 pdMatm1[iSubIt] = dCoef;
         };

void SparseSubMatrixHandler::PutColIndex	(	integer	iSubIt,
		integer	iCol
	)

inlinevirtual

Implements SubMatrixHandler.

Definition at line 952 of file submat.h.

References ASSERT, iNumItems, and piColm1.

                                                   {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
                 piColm1[iSubIt] = iCol;
         };

void SparseSubMatrixHandler::PutCross	(	integer	iSubIt,
		integer	iFirstRow,
		integer	iFirstCol,
		const Vec3 &	v
	)

Definition at line 1236 of file submat.cc.

References ASSERT, iNumItems, pdMatm1, Vec3::pGetVec(), piColm1, piRowm1, V1, V2, and V3.

Referenced by InLineJoint::AssJac(), SphericalHingeJoint::AssJac(), InPlaneJoint::AssJac(), ContactJoint::AssJac(), AutomaticStructDispElem::AssJac(), InLineWithOffsetJoint::AssJac(), AngularVelocityJoint::AssJac(), DistanceJointWithOffset::AssJac(), PinJoint::AssJac(), InPlaneWithOffsetJoint::AssJac(), AutomaticStructElem::AssJac(), PlanePinJoint::AssJac(), AutomaticStructElem::AssMats(), and AngularVelocityJoint::InitialAssJac().

 {
 #ifdef DEBUG
         IsValid();
 
         ASSERT(iNumItems >= 6);
         ASSERT(iSubIt > 0);
         ASSERT(iSubIt <= iNumItems - 5);
         ASSERT(iFirstRow >= 0);
         ASSERT(iFirstCol >= 0);
 #endif /* DEBUG */
 
         /* Attenzione agli argomenti:
          * iSubIt e' il primo indice della matrice da utilizzare,
          * con 1 <= iSubit <= iCurSize;
          * iFirstRow e' il primo indice di riga -1, ovvero il
          * primo indice di riga della sottomatrice v/\ piena e' iFirstRow+1
          * iFirstCol e' il primo indice di colonna -1, ovvero il
          * primo indice di colonna della sottomatrice v/\ piena e' iFirstCol+1
          * v e' il vettore che genera v/\ */
 
         /* Matrice v/\ :
          *
          *         1   2   3
          *
          * 1    |  0  -v3  v2 |
          * 2    |  v3  0  -v1 |
          * 3    | -v2  v1  0  |
          */
 
         /* assume che il Vec3 sia un'array di 3 reali */
         const doublereal* pdFrom = v.pGetVec();
 
         /* Coefficiente 1,2 */
         doublereal* pdm = pdMatm1 + iSubIt;
         integer* pir = piRowm1 + iSubIt;
         integer* pic = piColm1 + iSubIt;
 
         pdm[0] = -pdFrom[V3];               // -v.dGet(3);
         pir[0] = iFirstRow + 1;
         pic[0] = iFirstCol + 2;
 
         /* Coefficiente 1,3 */
         pdm[1] = pdFrom[V2];                // v.dGet(2);
         pir[1] = iFirstRow + 1;
         pic[1] = iFirstCol + 3;
 
         /* Coefficiente 2,1 */
         pdm[2] = pdFrom[V3];                // v.dGet(3);
         pir[2] = iFirstRow + 2;
         pic[2] = iFirstCol + 1;
 
         /* Coefficiente 2,3 */
         pdm[3] = -pdFrom[V1];               // -v.dGet(1);
         pir[3] = iFirstRow + 2;
         pic[3] = iFirstCol + 3;
 
         /* Coefficiente 3,1 */
         pdm[4] = -pdFrom[V2];                // -v.dGet(2);
         pir[4] = iFirstRow + 3;
         pic[4] = iFirstCol + 1;
 
         /* Coefficiente 3,2 */
         pdm[5] = pdFrom[V1];                 // v.dGet(1);
         pir[5] = iFirstRow + 3;
         pic[5] = iFirstCol + 2;
 }

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void SparseSubMatrixHandler::PutDiag	(	integer	iSubIt,
		integer	iFirstRow,
		integer	iFirstCol,
		const Vec3 &	v
	)

Definition at line 1125 of file submat.cc.

References ASSERT, iNumItems, pdMatm1, Vec3::pGetVec(), piColm1, piRowm1, V1, V2, and V3.

Referenced by SphericalHingeJoint::AssJac().

 {
 #ifdef DEBUG
         IsValid();
 
         ASSERT(iNumItems >= 3);
         ASSERT(iSubIt > 0);
         ASSERT(iSubIt <= iNumItems - 2);
         ASSERT(iFirstRow >= 0);
         ASSERT(iFirstCol >= 0);
 #endif /* DEBUG */
 
         /*
          * Attenzione agli argomenti:
          * iSubIt e' il primo indice della matrice da utilizzare,
          * con 1 <= iSubit <= iCurSize;
          * iFirstRow e' il primo indice di riga -1, ovvero il primo indice
          * di riga della sottomatrice diag(v) piena e' iFirstRow + 1
          * iFirstCol e' il primo indice di colonna -1, ovvero il primo indice
          * di colonna della sottomatrice diag(v) piena e' iFirstCol + 1
          * v e' il vettore che genera diag(v)
          */
 
         /* Matrice diag(v) :
          *
          *         1   2   3
          *
          * 1    |  v1  0   0  |
          * 2    |  0   v2  0  |
          * 3    |  0   0   v3 |
          */
 
         /* assume che il Vec3 sia un'array di 3 reali */
         const doublereal* pdFrom = v.pGetVec();
 
         doublereal* pdm = pdMatm1 + iSubIt;
         integer* pir = piRowm1 + iSubIt;
         integer* pic = piColm1 + iSubIt;
 
         /* Coefficiente 1,1 */
         pdm[0] = pdFrom[V1];
         pir[0] = iFirstRow + 1;
         pic[0] = iFirstCol + 1;
 
         /* Coefficiente 2,2 */
         pdm[1] = pdFrom[V2];
         pir[1] = iFirstRow + 2;
         pic[1] = iFirstCol + 2;
 
         /* Coefficiente 3,3 */
         pdm[2] = pdFrom[V3];
         pir[2] = iFirstRow + 3;
         pic[2] = iFirstCol + 3;
 }

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void SparseSubMatrixHandler::PutDiag	(	integer	iSubIt,
		integer	iFirstRow,
		integer	iFirstCol,
		const doublereal &	d
	)

Definition at line 1183 of file submat.cc.

References ASSERT, iNumItems, pdMatm1, piColm1, and piRowm1.

 {
 #ifdef DEBUG
         IsValid();
 
         ASSERT(iNumItems >= 3);
         ASSERT(iSubIt > 0);
         ASSERT(iSubIt <= iNumItems - 2);
         ASSERT(iFirstRow >= 0);
         ASSERT(iFirstCol >= 0);
 #endif /* DEBUG */
 
         /* Attenzione agli argomenti:
          * iSubIt e' il primo indice della matrice da utilizzare,
          * con 1 <= iSubit <= iCurSize;
          * iFirstRow e' il primo indice di riga -1, ovvero il
          * primo indice di riga della sottomatrice I*d piena e' iFirstRow+1
          * iFirstCol e' il primo indice di colonna -1, ovvero il
          * primo indice di colonna della sottomatrice I*d piena e' iFirstCol+1
          * v e' il vettore che genera I*d */
 
         /* Matrice I*d :
          *
          *         1   2   3
          *
          * 1    |  d   0   0 |
          * 2    |  0   d   0 |
          * 3    |  0   0   d |
          */
 
         doublereal* pdm = pdMatm1 + iSubIt;
         integer* pir = piRowm1 + iSubIt;
         integer* pic = piColm1 + iSubIt;
 
         /* Coefficiente 1,1 */
         pdm[0] = d;
         pir[0] = iFirstRow + 1;
         pic[0] = iFirstCol + 1;
 
         /* Coefficiente 2,2 */
         pdm[1] = d;
         pir[1] = iFirstRow + 2;
         pic[1] = iFirstCol + 2;
 
         /* Coefficiente 3,3 */
         pdm[2] = d;
         pir[2] = iFirstRow + 3;
         pic[2] = iFirstCol + 3;
 }

void SparseSubMatrixHandler::PutItem	(	integer	iSubIt,
		integer	iRow,
		integer	iCol,
		const doublereal &	dCoef
	)

inline

Definition at line 997 of file submat.h.

References ASSERT, iNumItems, pdMatm1, piColm1, and piRowm1.

Referenced by DispMeasure::AssJac(), Accelerometer::AssJac(), LinearAccelerationJoint::AssJac(), GenelClamp::AssJac(), InLineJoint::AssJac(), LinearVelocityJoint::AssJac(), DistanceJoint::AssJac(), DrivenElem::AssJac(), InPlaneJoint::AssJac(), ContactJoint::AssJac(), SwashPlate::AssJac(), TikhonovRegularization::AssJac(), RotorTrimBase::AssJac(), TranslAccel::AssJac(), GenelDistance::AssJac(), AutomaticStructDispElem::AssJac(), AngularAccelerationJoint::AssJac(), AngularVelocityJoint::AssJac(), ModuleNonsmoothNode::AssJac(), InLineWithOffsetJoint::AssJac(), DynamicRegularization::AssJac(), DistanceJointWithOffset::AssJac(), RotAccel::AssJac(), PinJoint::AssJac(), InPlaneWithOffsetJoint::AssJac(), JacobianRegularization::AssJac(), AutomaticStructElem::AssJac(), ClampJoint::AssJac(), GenelMass::AssJac(), PlanePinJoint::AssJac(), DynamicInflowRotor::AssJac(), PetersHeRotor::AssJac(), DrivenElem::AssMats(), AutomaticStructDispElem::AssMats(), AutomaticStructElem::AssMats(), DistanceJoint::InitialAssJac(), LinearVelocityJoint::InitialAssJac(), TikhonovRegularization::InitialAssJac(), DynamicRegularization::InitialAssJac(), AngularVelocityJoint::InitialAssJac(), JacobianRegularization::InitialAssJac(), and ClampJoint::InitialAssJac().

                                                  {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
                 ASSERT(iRow > 0);
                 ASSERT(iCol > 0);
 
                 pdMatm1[iSubIt] = dCoef;
                 piRowm1[iSubIt] = iRow;
                 piColm1[iSubIt] = iCol;
         };

void SparseSubMatrixHandler::PutMat3x3	(	integer	iSubIt,
		integer	iFirstRow,
		integer	iFirstCol,
		const Mat3x3 &	m
	)

Definition at line 1331 of file submat.cc.

References ASSERT, iNumItems, M11, M12, M13, M21, M22, M23, M31, M32, M33, pdMatm1, Mat3x3::pGetMat(), piColm1, and piRowm1.

Referenced by InLineJoint::AssJac(), SphericalHingeJoint::AssJac(), InPlaneJoint::AssJac(), InLineWithOffsetJoint::AssJac(), DistanceJointWithOffset::AssJac(), PinJoint::AssJac(), InPlaneWithOffsetJoint::AssJac(), and PlanePinJoint::AssJac().

 {
 #ifdef DEBUG
         IsValid();
 
         ASSERT(iNumItems >= 9);
         ASSERT(iSubIt > 0);
         ASSERT(iSubIt <= iNumItems - 8);
         ASSERT(iFirstRow >= 0);
         ASSERT(iFirstCol >= 0);
 #endif /* DEBUG */
 
         /* Attenzione agli argomenti:
          * iSubIt e' il primo indice della matrice da utilizzare,
          * con 1 <= iSubit <= iCurSize;
          * iFirstRow e' il primo indice di riga -1, ovvero il
          * primo indice di riga della sottomatrice v/\ piena e' iFirstRow+1
          * iFirstCol e' il primo indice di colonna -1, ovvero il
          * primo indice di colonna della sottomatrice m piena e' iFirstCol+1
          */
 
         /* Per efficienza, vengono scritte esplicitamente tutte
          * le assegnazioni;
          * la funzione quindi non e' messa in linea intenzionalmente */
 
         /* Coefficienti 1,1-3,1 */
         doublereal* pdFrom = (doublereal*)m.pGetMat();
         doublereal* pdTmpMat = pdMatm1 + iSubIt;
         integer* piTmpRow = piRowm1 + iSubIt;
         integer* piTmpCol = piColm1 + iSubIt;
 
         iFirstRow++;
         iFirstCol++;
 
         /* Prima riga */
         pdTmpMat[0] = pdFrom[M11];
         piTmpRow[0] = iFirstRow++;
         piTmpCol[0] = iFirstCol;
 
         pdTmpMat[1] = pdFrom[M21];
         piTmpRow[1] = iFirstRow++;
         piTmpCol[1] = iFirstCol;
 
         pdTmpMat[2] = pdFrom[M31];
         piTmpRow[2] = iFirstRow;
         piTmpCol[2] = iFirstCol;
 
         /* Seconda riga */
         iFirstRow -= 2;
         iFirstCol++;
 
         pdTmpMat[3] = pdFrom[M12];
         piTmpRow[3] = iFirstRow++;
         piTmpCol[3] = iFirstCol;
 
         pdTmpMat[4] = pdFrom[M22];
         piTmpRow[4] = iFirstRow++;
         piTmpCol[4] = iFirstCol;
 
         pdTmpMat[5] = pdFrom[M32];
         piTmpRow[5] = iFirstRow;
         piTmpCol[5] = iFirstCol;
 
         /* Terza riga */
         iFirstRow -= 2;
         iFirstCol++;
 
         pdTmpMat[6] = pdFrom[M13];
         piTmpRow[6] = iFirstRow++;
         piTmpCol[6] = iFirstCol;
 
         pdTmpMat[7] = pdFrom[M23];
         piTmpRow[7] = iFirstRow++;
         piTmpCol[7] = iFirstCol;
 
         pdTmpMat[8] = pdFrom[M33];
         piTmpRow[8] = iFirstRow;
         piTmpCol[8] = iFirstCol;
 }

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void SparseSubMatrixHandler::PutRowIndex	(	integer	iSubIt,
		integer	iRow
	)

inlinevirtual

Implements SubMatrixHandler.

Definition at line 939 of file submat.h.

References ASSERT, iNumItems, and piRowm1.

                                                   {
 #ifdef DEBUG
                 IsValid();
 #endif /* DEBUG */
 
                 ASSERT((iSubIt > 0) && (iSubIt <= iNumItems));
                 piRowm1[iSubIt] = iRow;
         };

void SparseSubMatrixHandler::Reset ( void )

virtual

Implements MatrixHandler.

Definition at line 1307 of file submat.cc.

References ASSERT, iNumItems, and pdMatm1.

Referenced by ResizeReset().

 {
 #ifdef DEBUG
         IsValid();
 #endif /* DEBUG */
 
         ASSERT(iNumItems > 0);
 
 #if defined HAVE_MEMSET
         memset(pdMatm1 + 1, 0, iNumItems*sizeof(doublereal));
 #else /* !HAVE_MEMSET */
         for (integer i = iNumItems; i > 0; i--) {
                 pdMatm1[i] = 0.;
         }
 #endif /* HAVE_MEMSET */
 }

void SparseSubMatrixHandler::Resize	(	integer	iNewRow,
		integer	iNewCol
	)

virtual

Implements SubMatrixHandler.

Definition at line 1053 of file submat.cc.

References ASSERT, iDoubleSize, iIntSize, iNumItems, MBDYN_EXCEPT_ARGS, and piRowm1.

Referenced by LinearAccelerationJoint::AssJac(), GenelClamp::AssJac(), ContactJoint::AssJac(), RotorTrimBase::AssJac(), AngularAccelerationJoint::AssJac(), and ResizeReset().

 {
 #ifdef DEBUG
         IsValid();
 #endif /* DEBUG */
 
         ASSERT(iNewRow > 0);
         ASSERT(2*iNewRow <= iIntSize);
         ASSERT(iNewRow <= iDoubleSize);
         ASSERT(piRowm1 != NULL);
 
         if (iNewRow <= 0
                         || 2*iNewRow > iIntSize
                         || iNewRow > iDoubleSize) {
                 silent_cerr("SparseSubMatrixHandler::Resize() - error"
                                 << std::endl);
                 throw SparseSubMatrixHandler::ErrResize(MBDYN_EXCEPT_ARGS);
         }
 
         iNumItems = iNewRow;
 
 #ifdef DEBUG
         IsValid();
 #endif /* DEBUG */
 }

void SparseSubMatrixHandler::ResizeReset	(	integer	iNewRow,
		integer	iNewCol
	)

virtual

Implements SubMatrixHandler.

Definition at line 1084 of file submat.cc.

References Reset(), and Resize().

Referenced by DispMeasure::AssJac(), Accelerometer::AssJac(), InLineJoint::AssJac(), LinearVelocityJoint::AssJac(), DistanceJoint::AssJac(), DrivenElem::AssJac(), SphericalHingeJoint::AssJac(), InPlaneJoint::AssJac(), SwashPlate::AssJac(), TikhonovRegularization::AssJac(), TranslAccel::AssJac(), GenelDistance::AssJac(), AutomaticStructDispElem::AssJac(), ModuleNonsmoothNode::AssJac(), InLineWithOffsetJoint::AssJac(), AngularVelocityJoint::AssJac(), DynamicRegularization::AssJac(), DistanceJointWithOffset::AssJac(), RotAccel::AssJac(), PinJoint::AssJac(), InPlaneWithOffsetJoint::AssJac(), JacobianRegularization::AssJac(), AutomaticStructElem::AssJac(), ClampJoint::AssJac(), GenelMass::AssJac(), PlanePinJoint::AssJac(), DynamicInflowRotor::AssJac(), PetersHeRotor::AssJac(), DrivenElem::AssMats(), AutomaticStructDispElem::AssMats(), AutomaticStructElem::AssMats(), DistanceJoint::InitialAssJac(), LinearVelocityJoint::InitialAssJac(), TikhonovRegularization::InitialAssJac(), DynamicRegularization::InitialAssJac(), AngularVelocityJoint::InitialAssJac(), JacobianRegularization::InitialAssJac(), and ClampJoint::InitialAssJac().

 {
         Resize(iNewRow, iNewCol);
         Reset();
 }

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MatrixHandler & SparseSubMatrixHandler::SubFrom ( MatrixHandler & MH ) const

virtual

Implements SubMatrixHandler.

Reimplemented in VariableSubMatrixHandler.

Definition at line 1507 of file submat.cc.

References ASSERT, MatrixHandler::iGetNumCols(), MatrixHandler::iGetNumRows(), iNumItems, pdMatm1, piColm1, and piRowm1.

Referenced by VariableSubMatrixHandler::SubFrom().

 {
 #ifdef DEBUG
         IsValid();
         MH.IsValid();
 #endif /* DEBUG */
 
         for (integer i = iNumItems; i > 0; i--) {
                 ASSERT(piRowm1[i] > 0);
                 ASSERT(piRowm1[i] <= MH.iGetNumRows());
                 ASSERT(piColm1[i] > 0);
                 ASSERT(piColm1[i] <= MH.iGetNumCols());
 
                 MH(piRowm1[i], piColm1[i]) -= pdMatm1[i];
         }
 
         return MH;
 }

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MatrixHandler & SparseSubMatrixHandler::SubFrom ( FullMatrixHandler & MH ) const

Definition at line 1551 of file submat.cc.

References ASSERT, FullMatrixHandler::iGetNumCols(), FullMatrixHandler::iGetNumRows(), iNumItems, pdMatm1, piColm1, piRowm1, and FullMatrixHandler::ppdColsm1.

 {
 #ifdef DEBUG
         IsValid();
         MH.IsValid();
 #endif /* DEBUG */
 
         doublereal **ppd = MH.ppdColsm1;
 
         for (integer i = iNumItems; i > 0; i--) {
                 ASSERT(piRowm1[i] > 0);
                 ASSERT(piRowm1[i] <= MH.iGetNumRows());
                 ASSERT(piColm1[i] > 0);
                 ASSERT(piColm1[i] <= MH.iGetNumCols());
 
                 ppd[piColm1[i]][piRowm1[i]] -= pdMatm1[i];
         }
 
         return MH;
 }

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MatrixHandler & SparseSubMatrixHandler::SubFromT ( MatrixHandler & MH ) const

virtual

Implements SubMatrixHandler.

Reimplemented in VariableSubMatrixHandler.

Definition at line 1529 of file submat.cc.

References ASSERT, MatrixHandler::iGetNumCols(), MatrixHandler::iGetNumRows(), iNumItems, pdMatm1, piColm1, and piRowm1.

Referenced by VariableSubMatrixHandler::SubFromT().

 {
 #ifdef DEBUG
         IsValid();
         MH.IsValid();
 #endif /* DEBUG */
 
         for (integer i = iNumItems; i > 0; i--) {
                 ASSERT(piRowm1[i] > 0);
                 ASSERT(piRowm1[i] <= MH.iGetNumCols());
                 ASSERT(piColm1[i] > 0);
                 ASSERT(piColm1[i] <= MH.iGetNumRows());
 
                 MH(piColm1[i], piRowm1[i]) -= pdMatm1[i];
         }
 
         return MH;
 }

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MatrixHandler & SparseSubMatrixHandler::SubFromT ( FullMatrixHandler & MH ) const

Definition at line 1574 of file submat.cc.

References ASSERT, FullMatrixHandler::iGetNumCols(), FullMatrixHandler::iGetNumRows(), iNumItems, pdMatm1, piColm1, piRowm1, and FullMatrixHandler::ppdColsm1.

 {
 #ifdef DEBUG
         IsValid();
         MH.IsValid();
 #endif /* DEBUG */
 
         doublereal **ppd = MH.ppdColsm1;
 
         for (integer i = iNumItems; i > 0; i--) {
                 ASSERT(piRowm1[i] > 0);
                 ASSERT(piRowm1[i] <= MH.iGetNumCols());
                 ASSERT(piColm1[i] > 0);
                 ASSERT(piColm1[i] <= MH.iGetNumRows());
 
                 ppd[piRowm1[i]][piColm1[i]] -= pdMatm1[i];
         }
 
         return MH;
 }