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/* ========================================================================
* PROJECT: ARToolKitPlus
* ========================================================================
* This work is based on the original ARToolKit developed by
* Hirokazu Kato
* Mark Billinghurst
* HITLab, University of Washington, Seattle
* http://www.hitl.washington.edu/artoolkit/
*
* Copyright of the derived and new portions of this work
* (C) 2006 Graz University of Technology
*
* This framework is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This framework 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
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this framework; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
* For further information please contact
* Dieter Schmalstieg
* <schmalstieg@icg.tu-graz.ac.at>
* Graz University of Technology,
* Institut for Computer Graphics and Vision,
* Inffeldgasse 16a, 8010 Graz, Austria.
* ========================================================================
** @author Daniel Wagner
*
* $Id: vector.cxx 162 2006-04-19 21:28:10Z grabner $
* @file
* ======================================================================== */
#include <stdlib.h>
#include <stdio.h>
#ifndef __APPLE__
#include <malloc.h>
#else
#include <stdlib.h>
#endif
#include <math.h>
#include <ARToolKitPlus/Tracker.h>
#include <ARToolKitPlus/matrix.h>
#include <ARToolKitPlus/vector.h>
namespace ARToolKitPlus {
namespace Vector {
// from vAlloc.c
static ARVec*
alloc( int clm )
{
ARVec *v;
v = (ARVec *)malloc(sizeof(ARVec));
if( v == NULL ) return NULL;
v->v = (ARFloat *)malloc(sizeof(ARFloat) * clm);
if( v->v == NULL ) {
free(v);
return NULL;
}
v->clm = clm;
return v;
}
// from vDisp.c
/*
static int
disp( ARVec *v )
{
int c;
if( v == NULL ) return -1;
printf(" === vector (%d) ===\n", v->clm);
printf(" |");
for( c = 0; c < v->clm; c++ ){
printf( " %10g", v->v[c] );
}
printf(" |\n");
printf(" ===================\n");
return 0;
}
*/
// from vFree.c
static int
free( ARVec *v )
{
::free( v->v );
::free( v );
return 0;
}
// from vHouse.c
static ARFloat
household( ARVec *x )
{
ARFloat s, t;
int i;
s = (ARFloat)sqrt( innerproduct(x,x) );
if( s != 0.0 ) {
if(x->v[0] < 0) s = -s;
x->v[0] += s;
t = (ARFloat)1 / (ARFloat)sqrt(x->v[0] * s);
for( i = 0; i < x->clm; i++ ) {
x->v[i] *= t;
}
}
return(-s);
}
// from vInnerP.c
static ARFloat
innerproduct( ARVec *x, ARVec *y )
{
ARFloat result = 0.0;
int i;
if( x->clm != y->clm ) exit(0);
for( i = 0; i < x->clm; i++ ) {
result += x->v[i] * y->v[i];
}
return( result );
}
// from vTridiag.c
static int
tridiagonalize( ARMat *a, ARVec *d, ARVec *e )
{
ARVec wv1, wv2;
ARFloat *v;
ARFloat s, t, p, q;
int dim;
int i, j, k;
if( a->clm != a->row ) return(-1);
if( a->clm != d->clm ) return(-1);
if( a->clm != e->clm+1 ) return(-1);
dim = a->clm;
for( k = 0; k < dim-2; k++ ) {
v = &(a->m[k*dim]);
d->v[k] = v[k];
wv1.clm = dim-k-1;
wv1.v = &(v[k+1]);
e->v[k] = household(&wv1);
if( e->v[k] == 0.0 ) continue;
for( i = k+1; i < dim; i++ ) {
s = 0.0;
for( j = k+1; j < i; j++ ) {
s += a->m[j*dim+i] * v[j];
}
for( j = i; j < dim; j++ ) {
s += a->m[i*dim+j] * v[j];
}
d->v[i] = s;
}
wv1.clm = wv2.clm = dim-k-1;
wv1.v = &(v[k+1]);
wv2.v = &(d->v[k+1]);
t = innerproduct( &wv1, &wv2 ) / 2;
for( i = dim-1; i > k; i-- ) {
p = v[i];
q = d->v[i] -= t*p;
for( j = i; j < dim; j++ ) {
a->m[i*dim+j] -= p*(d->v[j]) + q*v[j];
}
}
}
if( dim >= 2) {
d->v[dim-2] = a->m[(dim-2)*dim+(dim-2)];
e->v[dim-2] = a->m[(dim-2)*dim+(dim-1)];
}
if( dim >= 1 ) d->v[dim-1] = a->m[(dim-1)*dim+(dim-1)];
for( k = dim-1; k >= 0; k-- ) {
v = &(a->m[k*dim]);
if( k < dim-2 ) {
for( i = k+1; i < dim; i++ ) {
wv1.clm = wv2.clm = dim-k-1;
wv1.v = &(v[k+1]);
wv2.v = &(a->m[i*dim+k+1]);
t = innerproduct( &wv1, &wv2 );
for( j = k+1; j < dim; j++ ) a->m[i*dim+j] -= t * v[j];
}
}
for( i = 0; i < dim; i++ ) v[i] = 0.0;
v[k] = 1;
}
return(0);
}
} // namespace Vector
} // namespace ARToolKitPlus
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