lumatrix.hpp

面向对象的卡尔曼滤波器源码

// lumatrix.hpp

// A matrix definition for matrices in A = (P)LU form.
// The matrix is in a packed format occupying the same space as
// a regular matrix.
// Methods are provided to obtain the matrices P L and U if desired.
// Includes automatic conversion to LUMatrix from Matrix,
// and a coersion the other way

//                      (c) Copyright 1995, Everett F. Carter Jr.
//                      Permission is granted by the author to use
//			this software for any application provided this
//			copyright notice is preserved.

// rcsid: @(#)lumatrix.hpp	1.11 12:38:21 5/13/96   EFC

// NOTE: os << LUMatrix with TURBO C++ V1.0, causes a conversion to Matrix
//		        then calls << Matrix
//		        With Zortech C++ V2.1 the same statement does not cause
//			a conversion, LUMatrix inherits << from Matrix
//
// From my understanding of C++, I think the Zortech behaviour is the right one

//                      (c) Copyright 1995, Everett F. Carter Jr.
//                      Permission is granted by the author to use
//			this software for any application provided this
//			copyright notice is preserved.

#ifndef LUMATRIX_H_
#define LUMATRIX_H_ 1.11

#include <barray.hpp>
#include <matrix.hpp>

class LUMatrix : public Matrix {
	private:
		int *pivot;
		int errval;
		void column_swap(Matrix& p, const int k1, const int k2) const;
	public:
		LUMatrix() : errval(0), pivot(NULL)    {}  // default constructor
		 // constructor
		LUMatrix(const int r,const int c) : Matrix(r,c), errval(0)
					 { pivot = new int[r]; }
		LUMatrix(const LUMatrix&);		// initialization
		LUMatrix(const Matrix& a) : pivot(NULL)
			{ *this = lufact(a); } // initialization from a Matrix
		~LUMatrix() { delete []pivot; }		// destructor
	LUMatrix& operator=(const LUMatrix&);		// assignment
#ifndef __GNUC__
	operator Matrix() const;			// cast TO Matrix
#endif
	friend LUMatrix lufact(const Matrix &a);	// explicit conversion
	friend double det(const LUMatrix &);
	friend double deti(const LUMatrix &, int *);
	friend void backsub(const LUMatrix &, BasicArray& );
	friend void backt(const LUMatrix &, BasicArray& );
	friend Matrix invm(const LUMatrix &);

	// methods to return P, L and U as separate matrices
	Matrix P() const;
	Matrix L() const;
	Matrix U() const;

};

#endif