changelog

用C++写的矩阵和矢量运算库

2003-01-13  H. Kuiper  <[e-mail]>

	* matrix.h: Moved using std::ostream declaration within namespace
	CwMtx.

2002-11-29  H. Kuiper  <[e-mail]>

	* test/mattest.cpp (test_vector): Added test for
	matrix(n,m)*vector(m).

	* vector.h (CwMtx): Bug report from Gianni Morini: result of
	matrix(n,m)*vector(m) is a vector(n), i.e. a vector with the same
	number of rows as the matrix.

2002-10-26  Harry Kuiper  <[e-mail]>

	* matrix.h, test/mattest.cpp:
	Fixed use of namespaces and obsolete header files to satisfy gcc-3.2.

	* ChangeLog, doc/Doxyfile: Added doxygen config file.

	* ChangeLog, test/mattest.cpp:
	Changed sqrt(2) to sqrt(2.0) otherwise gcc-3.2 can not chose between
	int or double.

2002-08-13  Harry Kuiper  <[e-mail]>

	* coordsys.h (CwMtx): Bug report from Chris Mejia.  In the file
	coordsys.h, the function SmatFromQtn, the line
	smat[1][2]=2*(qtn1*qtn2 + qtn1*qtn3); should be
	smat[1][2]=2*(qtn1*qtn2 + qtn0*qtn3);

2002-08-03  Harry Kuiper  <[e-mail]>

	* test/mattest.cpp (test_smatrix): Improved print layout.

	* matrix.h (CwMtx): Changed '|' into ';' in printed form of matrix
	to make it compatible with Octave.

2002-03-27  Harry Kuiper  <[e-mail]>

	* Contributors: Added short description of contributions.

2002-03-14  Harry Kuiper  <[e-mail]>

	* matrix.h: Removed erroneous use of "cout" in operator<<(..),
	should have been "os'.

2002-01-24  Harry Kuiper  <[e-mail]>

	* matrix.h: Operator << now produces better readable output.

2002-01-15  Harry Kuiper  <[e-mail]>

	* matrix.h, quatern.h, smatrix.h, svector.h, test/mattest.cpp,
	  vector.h:
	Changed: Renamed template classes Zero and Unity to CWTZero and
	CWTUnity conform the naming rules of the matrix classes.

	* Makefile:
	Changed: No longer deletes the install directory (this was potentially
	very dangerous).

2002-01-04  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* ChangeLog, matrix.h, quatern.h, smatrix.h, svector.h,
	  test/mattest.cpp, vector.h:
	Changed: Merged with branch tag cwmtx-static-dim.  From start of
	branch upto tag cwmtx-static-dim-merge1.

	* ChangeLog: Updated.

	* test/mattest.cpp:
	Added: More tests for matrices with structured elements.

	* quatern.h, svector.h, vector.h:
	Changed: Some more fine tuning to get the templates to work with
	matrices with structured elements.

2002-01-03  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* matrix.h, quatern.h, smatrix.h, svector.h, vector.h:
	Changed: Some fine tuning to get the templates to work with matrices
	with structured elements.

	* test/mattest.cpp: Added: Tests for matrices with structured elements.

2001-11-01  Harry Kuiper  <[e-mail]>

	* test/mattest.cpp: Changed: Uncommented all test cases.

2001-10-31  Harry Kuiper  <[e-mail]>

	* coordsys.h, cwmtx.h, matrix.h, quatern.h, smatrix.h, svector.h,
	vector.h, test/mattest.cpp:
	Changed: Removed Local Variables block and reintroduced mode
	specification line because setting the major mode in a Local Variables
	block turns out to override c-mode-common-hook (thus disabling
	hide-show minor mode).

2001-10-29  Harry Kuiper  <[e-mail]>

	* matrix.h: Fixed: Use of literal 0 instead of zero object.

2001-10-27  Harry Kuiper  <[e-mail]>

	* test/mattest.cpp:
	Changed: Using renamed templates for testing self-dimensioning
	matrices.

	* test/Makefile: Changed: Set debugging on.

	* vector.h, smatrix.h, matrix.h:
	Changed: Renamed and moved templates (CWTMat, CWTSMat, CWTVector) for
	creating self-dimensioning matrices.

2001-10-26  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* vector.h, smatrix.h, quatern.h, matrix.h:
	Changed: Layout of inline functions.

2001-10-21  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* test/mattest.cpp:
	Changed: A few more test cases for self-dimensioning matrices.

	* vector.h, svector.h, smatrix.h, quatern.h, matrix.h:
	Changed: Improved self-dimensioning code.  It is now possible to use
	the matrix templates for generating matrices of structured elements.

	* cwmtx.h, coordsys.h, doc/cwmtx.txt, TODO, README, Contributors, BUGS:
	Changed: Emacs local variables for text mode.

	* vector.h, svector.h, smatrix.h, quatern.h, matrix.h:
	Fixed: Bug in self-dimensioning code.  Used functions Fill(..) and
	MakeUnity() which return void instead of an object

	* test/mattest.cpp:
	Added: Begin of test cases for self-dimensioning matrices.

2001-10-16  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* vector.h, smatrix.h, matrix.h:
	Changed: Using unsigned in templates for dimensions instead of int.

	* ChangeLog: Updated.

	* test/mattest.cpp:
	Changed: Added tests for self-dimensioning matrices.

	* vector.h, smatrix.h, matrix.h:
	Changed: Added templates for generating self-dimensioning matrices.

	* TODO: Updated.

2001-10-15  Harry Kuiper  <[e-mail]>

	* TODO, ChangeLog: Updated.

	* matrix.h: Changed: Improved comments.

	* quatern.h: Changed: Added Unity and Zero object.

	* smatrix.h:
	Changed: Replaced literal 1's and 0's by Unity and Zero objects.

	* svector.h: Changed: Added Zero object.

2001-10-14  Harry Kuiper  <[e-mail]>

	* matrix.h: Changed: Improved comments.

	* vector.h, svector.h, smatrix.h, quatern.h, matrix.h, coordsys.h:
	Changed: Unity and zero objects were introduced to avoid literal 1's
	and 0's in the source code.  This version only works for basic
	numerical types.

2001-10-13  Harry Kuiper  <[e-mail]>

	* test/mattest.cpp, coordsys.h: Changed: Only cosmetic changes.

	* matrix.h:
	Changed: Added compile-time option CC_CWTMTX_ASSUME_BASIC_TYPES that
	uses malloc(3) instead of operator new to get a modest speed advantage
	when C++ basic types are used as template argument for CWTMatrix<T>
	derived objects.  Arguments of type T changed into const T & to
	prevent large objects from being needlessly copied.

	* vector.h, svector.h, smatrix.h, quatern.h:
	Changed: Arguments of type T changed into const T & to prevent large
	objects from being needlessly copied.

2001-08-19  Harry Kuiper  <[e-mail]>

	* doc/cwmtx.txt: Added: Description of header file "cwmtx.h".

	* ChangeLog: Updated.

	* test/mattest.cpp, vector.h, svector.h, smatrix.h, quatern.h,
	matrix.h, cwmtx.h, coordsys.h:
	Changed: Comments starting with "///" changed into normal "//" because
	Doc++ gets confused by them.

2001-08-18  Harry Kuiper  <[e-mail]>

	* ChangeLog: Fixed a typo.

	* ChangeLog, TODO: Updated.

	* matrix.h: Changed: Chose for the naive implementation of Fill(T).  No
	discernible speed difference with "optimised" imlpementation.

2001-08-17  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* matrix.h:
	Changed: Rewrote CWTMatrix<T>::Fill( T ) to take advantage of the new
	contiguous memory layout.

	* vector.h, svector.h, smatrix.h, quatern.h, coordsys.h:
	Changed: Re-indented the sourcecode (done automatically by Emacs).

2001-08-12  Harry Kuiper  <[e-mail]>

	* ChangeLog, doc/cwmtx.txt, TODO, Contributors: Updated.

	* test/mattest.cpp: Added: Test for member function MakeUnit().

	* vector.h: Added: Member function MakeUnit().

	* svector.h, quatern.h: Added: Member function Unit().

	* doc/cwmtx.txt: Changed: Updated documentation.

	* vector.h, svector.h, smatrix.h, quatern.h, matrix.h, cwmtx.h,
	coordsys.h:
	Changed: Layout of copyright notices.  Moved some function
	declarations and/or definitions.

	* Contributors: New file that lists all contributors.

2001-08-10  Harry Kuiper  <[e-mail]>

	* vector.h, svector.h, smatrix.h, quatern.h, matrix.h, cwmtx.h,
	coordsys.h:
	Added: Emacs mode specifications.  Otherwise Emacs thinks these
	files contains C source code instead of C++ because of the .h
	extension.

2001-08-09  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* svector.h, quatern.h, matrix.h:
	Changed: A few comments, a few spaces, moved a code block.

2001-08-08  Harry Kuiper  <[e-mail]>

	* matrix.h:
	Changed: Storage allocation is now a lot more efficient. Removed
	unneeded checks for empty storage.

	* test/mattest.cpp:
	Changed: Basic matrix operations tests.  There was a segfault lurking
	there.

	* svector.h: Changed: Just spaces.

	* vector.h, svector.h:
	Changed: Replaced *this with (*this) to keep code readable.  Replaced
	1.0's with 1's, 0.0's with 0's.  This allows integral types in some
	cases.

	* smatrix.h:
	Changed: Added members operator /(T value), operator /(const
	CWTSquareMatrix &) and operator /=(const CWTSquareMatrix &).  Replaced
	*this with (*this) to keep code readable.  Replaced 1.0's with 1's,
	0.0's with 0's.  This allows integral types in some cases.

	* quatern.h:
	Changed: Replaced *this with (*this) to keep code readable.  Replaced
	1.0's with 1's, 0.0's with 0's.  This allows integral types in some
	cases.

	* matrix.h:
	Changed: Removed SCALAR template argument. Templates now have only one
	argument: class T.  Replaced 1.0's with 1's, 0.0's with 0's.  This
	allows integral types in some cases.

	* coordsys.h:
	Changed: All 1.0's into 1's, all 0.0's into 0's.  This allows integral
	types in some cases (Not relevant for this file.)

2001-08-07  Harry Kuiper  <[e-mail]>

	* matrix.h:
	Added: New member StoreSum(const CWTMatrix &, const CWTMatrix &);

2001-06-26  Harry Kuiper  <[e-mail]>

	* coordsys.h:
	Changed: Implemented speed tip from Jeffrey T Duncan: use the
	identity: 1 = q0^2 + q1^2 + q2^2 + q3^2.

	* TODO: Updated.

2001-05-09  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* test/mattest.cpp, quatern.h:
	Fixed: I got the sequence wrong in the division operator. p/q should
	be p*inv(q).

	* TODO: Updated.

	* quatern.h:
	Changed: Slight optimisation by limiting the number of calls to
	subscript operator in inv().

	* ChangeLog: Updated.

	* quatern.h:
	Fixed: Quaternion inverse: inv(q) = conj(q)/norm(q)**2. I forgot the
	square power in the original implementation.

2001-05-08  Harry Kuiper  <[e-mail]>

	* test/mattest.cpp, quatern.h:
	Added: Function to compute the inverse of a quaternion.

	* test/mattest.cpp, quatern.h:
	Added: operator /(CWQuaternion &) and operator /=(CWQuaternion &).

2001-03-11  Harry Kuiper  <[e-mail]>

	* ChangeLog: Updated.

	* coordsys.h:
	Changed: Made computation of quaternion from Euler angles slight more
	efficient.

	* ChangeLog: Updated.

	* test/mattest.cpp:
	Added: Test for computing quaternion from Euler axis-and-angle.

	* coordsys.h:
	Changed: Removed duplicated code from computing quaternions from Euler
	axis-and-angle representation. Computing a quaternion from Euler
	angles now works by multiplying 3 quaternions for successive rotations
	about Z, Y and X-axis instead of using the coefficients of the
	corresponding transformation matrix.

2001-03-04  Harry Kuiper  <[e-mail]>

	* doc/cwmtx.txt: Changed: Adapted docs for CWTQuaternion ctors.

	* ChangeLog: Updated.

	* test/mattest.cpp:
	Changed: Adapted tests of ctor for exponential form slightly because
	ctor profile has changed.

	* quatern.h:
	Changed: Reduced the set of ctors for exponential form to a single
	ctor and fixed bug caused by removal of side effect of
	CWTVector<T>::Norm() member function (see ChangeLog entry 2001-01-20).

2001-03-03  Harry Kuiper  <[e-mail]>

	* test/mattest.cpp:
	Changed: Re-typed "float" variables to "double" variables.

	* svector.h, quatern.h, coordsys.h:
	Changed: Optimised the code by reducing the number of calls to CPU
	expensive functions.

2001-02-14  Harry Kuiper  <[e-mail]>

	* TODO, coordsys.h: Updated: TODO.

2001-01-23  Harry Kuiper  <[e-mail]>

	* README: Changed: Installation instructions improved.

	* svector.h, test/mattest.cpp:
	Changed: Removed redundant code from CWTSpaceVector inner product.

2001-01-22  Harry Kuiper  <[e-mail]>

	* coordsys.h: Changed: Small optimisations.

2001-01-21  Harry Kuiper  <hkuiper@coopernet>

	* vector.h (CwMtx): Added function norm(const CWTVector<T> &vec).

	* Makefile (install): Added install target.

2001-01-20  Harry Kuiper  <hkuiper@coopernet>

	* vector.h (Unit): Member Unit() no longer changes norm of this as
	a side effect.

2000-11-22  Harry Kuiper  <hkuiper@coopernet>

	* smatrix.h: Removed template function
	SmatUnity(unsigned). Because it did not work because it had no
	template arguments.

2000-06-17  Jiri Ecer <[e-mail]>

    * Added new constructor to CWQuaternion.h that allow the construction
      of a quaternion from its exponential form. Updated the test program
      and the documentation to reflect this addition.

    * Added Makefile with an "install" target.

2000-03-28  Will DeVore <[e-mail]>

	* Converted all classes to templates. .cpp files are no longer
	required

	* Created namespace called "CwMtx". Remember to use the directive
	"using namespace CwMtx" where ever you use the
	templates. mattest.cpp shows examples.

	* Added several new methods:
		1) svector.h
		SpaceVector template has one additional method for
		getting the inner product. With out it the matrix*vector
		method was attempting to be instantiated causing a compile
		error.
		Note: this may be a good place to add virtual functions?
		T    operator *(const CWTSpaceVector &) const;

		2) vector.h
		Vector template has two new methods:
		T Norm() const;	// or Length
		CWTVector Unit();

		3) Coordsys.h template functions file has a few new methods for
		working with Axis-Angles and ChangeOfBasis:
		CWTVector<T> AxisAngleFromQtn( const CWTQuaternion<T> &qtn )
		CWTQuaternion<T> QtnFromAxisAngle( const CWTVector<T> &vAxis
			, const T sAngle )
		CWTSquareMatrix<T> ChangeOfBasis( 
			CWTSpaceVector< CWTSpaceVector<T> >& from ,
			CWTSpaceVector< CWTSpaceVector<T> >& to )

	* mattest.cpp file has been updated to test most of the templates
	functionality. I need to add more code to do a through test.

	* cwmtx.h has been changed to add several predefined types to matched
	the original class definitions. Some additional ones were added to test
	the embedded capabilities of the templates. See the method
	"ChangeOfBasis"

2000-04-05  Harry Kuiper  <[e-mail]>

	* matrix.h: Changed typedef SCLR form float to double.

2000-03-18 Harry Kuiper  <[e-mail]>

	* coordsys.cpp (QtnFromSmat): Added alternate ways of calculating
	the resulting quaternion for cases in which loss of accuracy could
	occur.

	* smatrix.cpp (tr): Implemented trace function, see below.

	* smatrix.h: Added function tr(smat) to calculate the trace of a
	square matrix.

1999-10-29  Harry Kuiper  <[e-mail]>

	* ADDED: This file.

	* $Id: ChangeLog,v 1.40 2003/01/13 18:08:48 hkuiper Exp $