SmallMatrix.h

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#ifndef SimTK_SIMMATRIX_SMALLMATRIX_H_
#define SimTK_SIMMATRIX_SMALLMATRIX_H_

/* -------------------------------------------------------------------------- *
 *                      SimTK Core: SimTK Simmatrix(tm)                       *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK Core biosimulation toolkit originating from      *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org.               *
 *                                                                            *
 * Portions copyright (c) 2005-7 Stanford University and the Authors.         *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Permission is hereby granted, free of charge, to any person obtaining a    *
 * copy of this software and associated documentation files (the "Software"), *
 * to deal in the Software without restriction, including without limitation  *
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,   *
 * and/or sell copies of the Software, and to permit persons to whom the      *
 * Software is furnished to do so, subject to the following conditions:       *
 *                                                                            *
 * The above copyright notice and this permission notice shall be included in *
 * all copies or substantial portions of the Software.                        *
 *                                                                            *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   *
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    *
 * THE AUTHORS, CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,    *
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR      *
 * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE  *
 * USE OR OTHER DEALINGS IN THE SOFTWARE.                                     *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon/Scalar.h"
#include "SimTKcommon/TemplatizedLapack.h"

// Forward declarations.
namespace SimTK {

template <int M, class E=Real, int STRIDE=1>              class Vec;
template <int N, class E=Real, int STRIDE=1>              class Row; 
template <int M, int N, class E=Real, int CS=M, int RS=1> class Mat; // col & row spacing
template <int M, class E=Real, int RS=1>                  class SymMat;

} // namespace SimTK

#include "SimTKcommon/internal/ResultType.h"
#include "SimTKcommon/internal/Vec.h"
#include "SimTKcommon/internal/Row.h"
#include "SimTKcommon/internal/Mat.h"
#include "SimTKcommon/internal/SymMat.h"
#include "SimTKcommon/internal/SmallMatrixMixed.h"

// Friendly abbreviations.
namespace SimTK {

typedef Vec<1> Vec1; // just a scalar
typedef Vec<2> Vec2;
typedef Vec<3> Vec3;
typedef Vec<4> Vec4;
typedef Vec<5> Vec5;
typedef Vec<6> Vec6;
typedef Vec<7> Vec7;
typedef Vec<8> Vec8;
typedef Vec<9> Vec9;

typedef Vec<1,float> fVec1; // just a scalar
typedef Vec<2,float> fVec2;
typedef Vec<3,float> fVec3;
typedef Vec<4,float> fVec4;
typedef Vec<5,float> fVec5;
typedef Vec<6,float> fVec6;
typedef Vec<7,float> fVec7;
typedef Vec<8,float> fVec8;
typedef Vec<9,float> fVec9;

typedef Row<1> Row1; // just a scalar
typedef Row<2> Row2;
typedef Row<3> Row3;
typedef Row<4> Row4;
typedef Row<5> Row5;
typedef Row<6> Row6;
typedef Row<7> Row7;
typedef Row<8> Row8;
typedef Row<9> Row9;

typedef Row<1,float> fRow1; // just a scalar
typedef Row<2,float> fRow2;
typedef Row<3,float> fRow3;
typedef Row<4,float> fRow4;
typedef Row<5,float> fRow5;
typedef Row<6,float> fRow6;
typedef Row<7,float> fRow7;
typedef Row<8,float> fRow8;
typedef Row<9,float> fRow9;

typedef SymMat<1> SymMat11; // just a scalar
typedef SymMat<2> SymMat22;
typedef SymMat<3> SymMat33;
typedef SymMat<4> SymMat44;
typedef SymMat<5> SymMat55;
typedef SymMat<6> SymMat66;
typedef SymMat<7> SymMat77;
typedef SymMat<8> SymMat88;
typedef SymMat<9> SymMat99;

typedef SymMat<1,float> fSymMat11; // just a scalar
typedef SymMat<2,float> fSymMat22;
typedef SymMat<3,float> fSymMat33;
typedef SymMat<4,float> fSymMat44;
typedef SymMat<5,float> fSymMat55;
typedef SymMat<6,float> fSymMat66;
typedef SymMat<7,float> fSymMat77;
typedef SymMat<8,float> fSymMat88;
typedef SymMat<9,float> fSymMat99;

typedef Mat<1,1> Mat11; // This is just a scalar
typedef Mat<1,2> Mat12; // The rest here are just single Rows
typedef Mat<1,3> Mat13;
typedef Mat<1,4> Mat14;
typedef Mat<1,5> Mat15;
typedef Mat<1,6> Mat16;
typedef Mat<1,7> Mat17;
typedef Mat<1,8> Mat18;
typedef Mat<1,9> Mat19;

typedef Mat<2,1> Mat21; // Mats with 2 rows
typedef Mat<2,2> Mat22;
typedef Mat<2,3> Mat23;
typedef Mat<2,4> Mat24;
typedef Mat<2,5> Mat25;
typedef Mat<2,6> Mat26;
typedef Mat<2,7> Mat27;
typedef Mat<2,8> Mat28;
typedef Mat<2,9> Mat29;

typedef Mat<3,1> Mat31; // Mats with 3 rows
typedef Mat<3,2> Mat32;
typedef Mat<3,3> Mat33;
typedef Mat<3,4> Mat34;
typedef Mat<3,5> Mat35;
typedef Mat<3,6> Mat36;
typedef Mat<3,7> Mat37;
typedef Mat<3,8> Mat38;
typedef Mat<3,9> Mat39;

typedef Mat<4,1> Mat41; // Mats with 4 rows
typedef Mat<4,2> Mat42;
typedef Mat<4,3> Mat43;
typedef Mat<4,4> Mat44;
typedef Mat<4,5> Mat45;
typedef Mat<4,6> Mat46;
typedef Mat<4,7> Mat47;
typedef Mat<4,8> Mat48;
typedef Mat<4,9> Mat49;

typedef Mat<5,1> Mat51; // Mats with 5 rows
typedef Mat<5,2> Mat52;
typedef Mat<5,3> Mat53;
typedef Mat<5,4> Mat54;
typedef Mat<5,5> Mat55;
typedef Mat<5,6> Mat56;
typedef Mat<5,7> Mat57;
typedef Mat<5,8> Mat58;
typedef Mat<5,9> Mat59;

typedef Mat<6,1> Mat61; // Mats with 6 rows
typedef Mat<6,2> Mat62;
typedef Mat<6,3> Mat63;
typedef Mat<6,4> Mat64;
typedef Mat<6,5> Mat65;
typedef Mat<6,6> Mat66;
typedef Mat<6,7> Mat67;
typedef Mat<6,8> Mat68;
typedef Mat<6,9> Mat69;

typedef Mat<7,1> Mat71; // Mats with 7 rows
typedef Mat<7,2> Mat72;
typedef Mat<7,3> Mat73;
typedef Mat<7,4> Mat74;
typedef Mat<7,5> Mat75;
typedef Mat<7,6> Mat76;
typedef Mat<7,7> Mat77;
typedef Mat<7,8> Mat78;
typedef Mat<7,9> Mat79;

typedef Mat<8,1> Mat81; // Mats with 8 rows
typedef Mat<8,2> Mat82;
typedef Mat<8,3> Mat83;
typedef Mat<8,4> Mat84;
typedef Mat<8,5> Mat85;
typedef Mat<8,6> Mat86;
typedef Mat<8,7> Mat87;
typedef Mat<8,8> Mat88;
typedef Mat<8,9> Mat89;

typedef Mat<9,1> Mat91; // Mats with 9 rows
typedef Mat<9,2> Mat92;
typedef Mat<9,3> Mat93;
typedef Mat<9,4> Mat94;
typedef Mat<9,5> Mat95;
typedef Mat<9,6> Mat96;
typedef Mat<9,7> Mat97;
typedef Mat<9,8> Mat98;
typedef Mat<9,9> Mat99;

// Just doing some of the popular ones for now.
typedef Mat<1,1,float> fMat11;
typedef Mat<2,2,float> fMat22;
typedef Mat<3,3,float> fMat33;
typedef Mat<3,4,float> fMat34;
typedef Mat<4,3,float> fMat43;
typedef Mat<4,4,float> fMat44;
typedef Mat<5,5,float> fMat55;
typedef Mat<6,6,float> fMat66;
typedef Mat<7,7,float> fMat77;
typedef Mat<8,8,float> fMat88;
typedef Mat<9,9,float> fMat99;


} //namespace SimTK


#endif //SimTK_SIMMATRIX_SMALLMATRIX_H_