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#ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_MAT_H_
#define LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_MAT_H_
/*
* Copyright (C) 2016 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <stdint.h>
#include <sys/types.h>
#include "common/math/vec.h"
#ifdef __cplusplus
extern "C" {
#endif
struct Mat33 {
float elem[3][3];
};
struct Size3 {
uint32_t elem[3];
};
struct Mat44 {
float elem[4][4];
};
struct Size4 {
uint32_t elem[4];
};
void initZeroMatrix(struct Mat33 *A);
void initDiagonalMatrix(struct Mat33 *A, float x);
void initMatrixColumns(struct Mat33 *A, const struct Vec3 *v1,
const struct Vec3 *v2, const struct Vec3 *v3);
void mat33Apply(struct Vec3 *out, const struct Mat33 *A, const struct Vec3 *v);
void mat33Multiply(struct Mat33 *out, const struct Mat33 *A,
const struct Mat33 *B);
void mat33ScalarMul(struct Mat33 *A, float c);
void mat33Add(struct Mat33 *out, const struct Mat33 *A);
void mat33Sub(struct Mat33 *out, const struct Mat33 *A);
int mat33IsPositiveSemidefinite(const struct Mat33 *A, float tolerance);
// out = A^(-1)
void mat33Invert(struct Mat33 *out, const struct Mat33 *A);
// out = A^T B
void mat33MultiplyTransposed(struct Mat33 *out, const struct Mat33 *A,
const struct Mat33 *B);
// out = A B^T
void mat33MultiplyTransposed2(struct Mat33 *out, const struct Mat33 *A,
const struct Mat33 *B);
// out = A^T
void mat33Transpose(struct Mat33 *out, const struct Mat33 *A);
void mat33DecomposeLup(struct Mat33 *LU, struct Size3 *pivot);
void mat33SwapRows(struct Mat33 *A, const uint32_t i, const uint32_t j);
void mat33Solve(const struct Mat33 *A, struct Vec3 *x, const struct Vec3 *b,
const struct Size3 *pivot);
void mat33GetEigenbasis(struct Mat33 *S, struct Vec3 *eigenvals,
struct Mat33 *eigenvecs);
uint32_t mat33Maxind(const struct Mat33 *A, uint32_t k);
void mat33Rotate(struct Mat33 *A, float c, float s, uint32_t k, uint32_t l,
uint32_t i, uint32_t j);
void mat44Apply(struct Vec4 *out, const struct Mat44 *A, const struct Vec4 *v);
void mat44DecomposeLup(struct Mat44 *LU, struct Size4 *pivot);
void mat44SwapRows(struct Mat44 *A, const uint32_t i, const uint32_t j);
void mat44Solve(const struct Mat44 *A, struct Vec4 *x, const struct Vec4 *b,
const struct Size4 *pivot);
#ifdef __cplusplus
}
#endif
#endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_MAT_H_
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