/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

// matrix class. this is mostly for convenience in the testing code, it is
// not optimized at all. correctness is much more importance here.

#ifndef _ODE_MAT_H_
#define _ODE_MAT_H_

#include <gazebo/ode/common.h>


class dMatrix {
  int n,m;    // matrix dimension, n,m >= 0
  dReal *data;    // if nonzero, n*m elements allocated on the heap

public:
  // constructors, destructors
  dMatrix();        // make default 0x0 matrix
  dMatrix (int rows, int cols);    // construct zero matrix of given size
  dMatrix (const dMatrix &);    // construct copy of given matrix
  // create copy of given data - element (i,j) is data[i*rowskip+j*colskip]
  dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);
  ~dMatrix();        // destructor

  // data movement
  dReal & operator () (int i, int j);  // reference an element
  void operator= (const dMatrix &);  // matrix = matrix
  void operator= (dReal);    // matrix = scalar
  dMatrix transpose();      // return transposed matrix
  // return a permuted submatrix of this matrix, made up of the rows in p
  // and the columns in q. p has np elements, q has nq elements.
  dMatrix select (int np, int *p, int nq, int *q);

  // operators
  dMatrix operator + (const dMatrix &);
  dMatrix operator - (const dMatrix &);
  dMatrix operator - ();
  dMatrix operator * (const dMatrix &);
  void operator += (const dMatrix &);
  void operator -= (const dMatrix &);

  // utility
  void clearUpperTriangle();
  void clearLowerTriangle();
  void makeRandom (dReal range);
  void print (char *fmt = const_cast<char*>("%10.4f "), FILE *f=stdout);
  dReal maxDifference (const dMatrix &);
};


#endif
