maspack.matrix

Class Matrix6dBlock

java.lang.Object

maspack.matrix.MatrixBase

maspack.matrix.DenseMatrixBase

maspack.matrix.Matrix6dBase

maspack.matrix.Matrix6d

maspack.matrix.Matrix6dBlock

All Implemented Interfaces:

java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, MatrixBlock, VectorObject<Matrix6d>, Clonable, Scannable

Direct Known Subclasses:

FrameBlock, Matrix6dDiagBlock, SpatialInertia

public class Matrix6dBlock
extends Matrix6d
implements MatrixBlock

Implements a 6 x 6 matrix block using a single Matrix6d object.

Nested Class Summary

Nested classes/interfaces inherited from interface maspack.matrix.Matrix

Matrix.Partition, Matrix.WriteFormat

Field Summary

Fields inherited from class maspack.matrix.Matrix6d

ZERO

Fields inherited from class maspack.matrix.Matrix6dBase

m00, m01, m02, m03, m04, m05, m10, m11, m12, m13, m14, m15, m20, m21, m22, m23, m24, m25, m30, m31, m32, m33, m34, m35, m40, m41, m42, m43, m44, m45, m50, m51, m52, m53, m54, m55

Fields inherited from interface maspack.matrix.Matrix

INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Constructor Summary

Constructors

Constructor and Description
Matrix6dBlock() Creates a new Matrix6dBlock.

Method Summary

Modifier and Type	Method and Description
void	add(Matrix M) Adds the contents of a Matrix to this matrix block.
void	addNumNonZerosByCol(int[] offsets, int idx, Matrix.Partition part) Adds the number of non-zero entries in each column of this block matrix to the current values stored in the array offsets, starting at the location specified by idx.
void	addNumNonZerosByRow(int[] offsets, int idx, Matrix.Partition part) Adds the number of non-zero entries in each row of this block matrix to the current values stored in the array offsets, starting at the location specified by idx.
Matrix6dBlock	clone() Creates a clone of this matrix block, with the link and offset information set to be undefined.
Matrix6dBlock	createTranspose() Creates a transpose of this matrix block.
MatrixBlock	down() Returns the next matrix block in a block matrix column.
int	getBlockCCSIndices(int[] rowIdxs, int rowOff, int[] offsets, Matrix.Partition part)
int	getBlockCCSValues(double[] vals, int[] offsets, Matrix.Partition part) Stores the values of non-zero entries for this matrix block.
int	getBlockCol() Gets the number of the block column of this matrix block within a SparseBlockMatrix.
int	getBlockCRSIndices(int[] colIdxs, int colOff, int[] offsets, Matrix.Partition part) Stores the column indices of the non-zero entries for this matrix block.
int	getBlockCRSValues(double[] vals, int[] offsets, Matrix.Partition part) Stores the values of non-zero entries for this matrix block.
int	getBlockNumber() Gets the number of this block within a SparseBlockMatrix.
int	getBlockRow() Gets the number of the block row of this matrix block within a SparseBlockMatrix.
void	mulAdd(double[] y, int yIdx, double[] x, int xIdx) Pre-multiplies a column vector by this matrix block and adds the result to a set of existing values.
void	mulTransposeAdd(double[] y, int yIdx, double[] x, int xIdx) Post-multiplies a row vector by this matrix block and adds the result to a set of existing values.
MatrixBlock	next() Returns the next matrix block in a block matrix row.
void	scaledAdd(double s, Matrix M) Adds the scaled contents of a Matrix to this matrix block.
void	setBlockCol(int blkCol) Sets the number of the block column of this matrix block within a SparseBlockMatrix.
void	setBlockNumber(int num) Sets the number of this block within a SparseBlockMatrix.
void	setBlockRow(int blkRow) Sets the number of the block row of this matrix block within a SparseBlockMatrix.
void	setDown(MatrixBlock blk) Sets the next matrix block in a block matrix column.
void	setNext(MatrixBlock blk) Sets the next matrix block in a block matrix row.
void	sub(Matrix M) Subtract the contents of a Matrix from this matrix block.
boolean	valueIsNonZero(int i, int j) Returns true if the value at the specified location is structurally non-zero.

Methods inherited from class maspack.matrix.Matrix6d

add, add, addObj, addSubMatrix00, addSubMatrix03, addSubMatrix30, addSubMatrix33, epsilonEquals, getSubMatrix00, getSubMatrix03, getSubMatrix30, getSubMatrix33, inverseTransform, inverseTransform, invert, mul, mul, mulAdd, mulInverse, mulInverseBoth, mulInverseLeft, mulInverseRight, mulTranspose, mulTransposeBoth, mulTransposeLeft, mulTransposeLeftAdd, mulTransposeRight, mulTransposeRightAdd, negate, scale, scale, scaledAddObj, scaleObj, set, setDiagonal, setDiagonal, setDiagonal, setLowerToUpper, setRandom, setRandom, setRandom, setSubMatrix00, setSubMatrix03, setSubMatrix30, setSubMatrix33, setZero, sub, sub, transform, transform, transpose

Methods inherited from class maspack.matrix.Matrix6dBase

colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, get, getColumn, getColumn, getRow, getRow, infinityNorm, invert, mul, mul, mulInverse, mulInverse, mulInverseTranspose, mulInverseTranspose, mulTranspose, mulTranspose, negate, oneNorm, rowSize, scaledAdd, set, set, set, set, setColumn, setIdentity, setRow, transpose

Methods inherited from class maspack.matrix.DenseMatrixBase

add, checkConsistency, set, set, set, setCCSValues, setColumn, setCRSValues, setRow, setSubMatrix

Methods inherited from class maspack.matrix.MatrixBase

containsNaN, epsilonEquals, equals, frobeniusNormSquared, get, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getDefaultFormat, getRow, getSize, getSubMatrix, hasNaN, idString, isFixedSize, isSymmetric, isWritable, maxNorm, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, scan, setCRSValues, setDefaultFormat, setSize, toString, toString, toString, trace, write, write, write, write, write, write, write, writeToFile

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface maspack.matrix.MatrixBlock

mulAdd, mulTransposeLeftAdd, mulTransposeRightAdd, negate, scale, setZero

Methods inherited from interface maspack.matrix.DenseMatrix

set, set, set, setColumn, setColumn, setRow, setRow, setSubMatrix

Methods inherited from interface maspack.matrix.Matrix

checkConsistency, colSize, determinant, epsilonEquals, equals, frobeniusNorm, frobeniusNormSquared, get, get, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getColumn, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getRow, getRow, getRow, getSize, getSubMatrix, infinityNorm, isFixedSize, isSymmetric, maxNorm, mul, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, oneNorm, rowSize, scan, set, set, setCCSValues, setCRSValues, setSize, toString, toString, trace, write, write, write

Methods inherited from interface maspack.matrix.VectorObject

getThreeVectorValue

Methods inherited from interface maspack.util.Scannable

isWritable, scan, write

Constructor Detail

Matrix6dBlock

public Matrix6dBlock()

Creates a new Matrix6dBlock.

Method Detail

next

public MatrixBlock next()

Returns the next matrix block in a block matrix row.

Specified by:

next in interface MatrixBlock

Returns:

next matrix block in a row

setNext

public void setNext(MatrixBlock blk)

Sets the next matrix block in a block matrix row. Reserved for use by maspack.matrix.

Specified by:

setNext in interface MatrixBlock

Parameters:

blk - next matrix block in a row

down

public MatrixBlock down()

Returns the next matrix block in a block matrix column.

Specified by:

down in interface MatrixBlock

Returns:

next matrix block in a column

setDown

public void setDown(MatrixBlock blk)

Sets the next matrix block in a block matrix column. Reserved for use by maspack.matrix.

Specified by:

setDown in interface MatrixBlock

Parameters:

blk - next matrix block in a column

getBlockRow

public int getBlockRow()

Gets the number of the block row of this matrix block within a SparseBlockMatrix.

Specified by:

getBlockRow in interface MatrixBlock

Returns:

block row number for this block

setBlockRow

public void setBlockRow(int blkRow)

Sets the number of the block row of this matrix block within a SparseBlockMatrix. Use of this method is reserved to maspack.matrix.

Specified by:

setBlockRow in interface MatrixBlock

Parameters:

blkRow - row number for this block

getBlockCol

public int getBlockCol()

Gets the number of the block column of this matrix block within a SparseBlockMatrix.

Specified by:

getBlockCol in interface MatrixBlock

Returns:

block column number for this block

setBlockCol

public void setBlockCol(int blkCol)

Sets the number of the block column of this matrix block within a SparseBlockMatrix. Use of this method is reserved to maspack.matrix.

Specified by:

setBlockCol in interface MatrixBlock

Parameters:

blkCol - column number for this block

getBlockNumber

public int getBlockNumber()

Gets the number of this block within a SparseBlockMatrix. Block numbers are used for fast access. If the block does not belong to a SparseBlockMatrix, then -1 is returned.

Specified by:

getBlockNumber in interface MatrixBlock

Returns:

number for this block

setBlockNumber

public void setBlockNumber(int num)

Sets the number of this block within a SparseBlockMatrix. Use of this method is reserved to maspack.matrix.

Specified by:

setBlockNumber in interface MatrixBlock

Parameters:

num - number for this block

mulAdd

public void mulAdd(double[] y,
                   int yIdx,
                   double[] x,
                   int xIdx)

Pre-multiplies a column vector by this matrix block and adds the result to a set of existing values. The column vector values are supplied by the argument x, starting at location xIdx, and the result is added to values in y, starting at location yIdx.

Specified by:

mulAdd in interface MatrixBlock

Parameters:

y - accumulates resulting values

yIdx - starting index for accumulating values

x - supplies column vector values

xIdx - starting index for column vector values

mulTransposeAdd

public void mulTransposeAdd(double[] y,
                            int yIdx,
                            double[] x,
                            int xIdx)

Post-multiplies a row vector by this matrix block and adds the result to a set of existing values. The row vector values are supplied by the argument x, starting at location xIdx, and the result is added to values in y, starting at location yIdx.

Specified by:

mulTransposeAdd in interface MatrixBlock

Parameters:

y - accumulates resulting values

yIdx - starting index for accumulating values

x - supplies row vector values

xIdx - starting index for row vector values

add

public void add(Matrix M)

Adds the contents of a Matrix to this matrix block.

Specified by:

add in interface MatrixBlock

Parameters:

M - matrix to add

scaledAdd

public void scaledAdd(double s,
                      Matrix M)

Adds the scaled contents of a Matrix to this matrix block.

Specified by:

scaledAdd in interface MatrixBlock

Parameters:

s - scaling factor

M - matrix to add

sub

public void sub(Matrix M)

Subtract the contents of a Matrix from this matrix block.

Specified by:

sub in interface MatrixBlock

Parameters:

M - matrix to subtract

getBlockCRSIndices

public int getBlockCRSIndices(int[] colIdxs,
                              int colOff,
                              int[] offsets,
                              Matrix.Partition part)

Stores the column indices of the non-zero entries for this matrix block. The indices for each row i are stored contiguously within the array colIdxs, starting at a location given by offsets[i]. Indices are 0-based. Upon return, offsets[i] should be incremented by the number of non-zero values in row i.

Specified by:

getBlockCRSIndices in interface MatrixBlock

Parameters:

colIdxs - stores column indices of non-zero entries

colOff - starting column index for the first column of this block

offsets - offsets within colIdxs for storing each row's indices; upon return, should be incremented by the number of non-zero entries in each row.

part - specifies whether to store column indices for the entire block or a specified sub-portion.

Returns:

number of non-zero entries

addNumNonZerosByRow

public void addNumNonZerosByRow(int[] offsets,
                                int idx,
                                Matrix.Partition part)

Adds the number of non-zero entries in each row of this block matrix to the current values stored in the array offsets, starting at the location specified by idx.

Specified by:

addNumNonZerosByRow in interface MatrixBlock

Parameters:

offsets - values to be incremented by the number of non-zero entries in each row

idx - starting location within offsets

part - specifies whether to consider the entire block or a specified sub-portion.

getBlockCCSIndices

public int getBlockCCSIndices(int[] rowIdxs,
                              int rowOff,
                              int[] offsets,
                              Matrix.Partition part)

Specified by:

getBlockCCSIndices in interface MatrixBlock

Parameters:

rowIdxs - stores row indices of non-zero entries

rowOff - starting row index for the first row of this block

offsets - offsets within rowIdxs for storing each column's indices; upon return, should be incremented by the number of non-zero entries in each column.

part - specifies whether to store row indices for the entire block or a specified sub-portion.

Returns:

number of non-zero entries

addNumNonZerosByCol

public void addNumNonZerosByCol(int[] offsets,
                                int idx,
                                Matrix.Partition part)

Adds the number of non-zero entries in each column of this block matrix to the current values stored in the array offsets, starting at the location specified by idx.

Specified by:

addNumNonZerosByCol in interface MatrixBlock

Parameters:

offsets - values to be incremented by the number of non-zero entries in each column

idx - starting location within offsets

part - specifies whether to consider the entire block or a specified sub-portion.

getBlockCRSValues

public int getBlockCRSValues(double[] vals,
                             int[] offsets,
                             Matrix.Partition part)

Stores the values of non-zero entries for this matrix block. The values for each row i are stored contiguously within the array vals, starting at a location given by offsets[i]. Upon return, offsets[i] should be incremented by the number of non-zero values in row i.

Specified by:

getBlockCRSValues in interface MatrixBlock

Parameters:

vals - stores values of non-zero entries

offsets - offsets within vals for storing each row's values; upon return, should be incremented by the number of non-zero entries in each row.

part - specifies whether to store the entire block or a specified sub-portion.

Returns:

number of non-zero entries

getBlockCCSValues

public int getBlockCCSValues(double[] vals,
                             int[] offsets,
                             Matrix.Partition part)

Stores the values of non-zero entries for this matrix block. The values for each column j are stored contiguously within the array vals, starting at a location given by offsets[j]. Upon return, offsets[j] should be incremented by the number of non-zero values in column j.

Specified by:

getBlockCCSValues in interface MatrixBlock

Parameters:

vals - stores values of non-zero entries

offsets - offsets within vals for storing each columns's values; upon return, should be incremented by the number of non-zero entries in each column.

part - specifies whether to store the entire block or a specified sub-portion.

Returns:

number of non-zero entries

valueIsNonZero

public boolean valueIsNonZero(int i,
                              int j)

Returns true if the value at the specified location is structurally non-zero. For dense blocks, this methid will always return true.

Specified by:

valueIsNonZero in interface MatrixBlock

Parameters:

i - row index

j - column index

Returns:

true if the value at (i,j) is structurally non-zero

createTranspose

public Matrix6dBlock createTranspose()

Creates a transpose of this matrix block.

Specified by:

createTranspose in interface MatrixBlock

clone

public Matrix6dBlock clone()

Creates a clone of this matrix block, with the link and offset information set to be undefined.

Specified by:

clone in interface MatrixBlock

Specified by:

clone in interface Clonable

Overrides:

clone in class Matrix6d

Returns:

clone of this MatrixBlock