/* LICENSE:
  =========================================================================
    CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7
    Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
    All rights reserved.
  ========================================================================= */

#ifndef __CRAPPY_MATRIX_H__
#define __CRAPPY_MATRIX_H__

/**********************************************************************
 * 
 * Kwun Han <kwunh@cs.cmu.edu>
 * March 1997
 *
 * Michael Bowling <mhb@cs.cmu.edu>
 * 1998-2002
 *
 * Determinant and inverse code is copied from mtrxmath under the GPL.
 *
 **********************************************************************/

class Matrix {

  // errr... rows and columns

  int r_;
  int c_;

  double* mat;

  void str_init(char* const init_string);

  Matrix *reduce_matrix(int cut_row, int cut_col) const;
public:
  Matrix(char* const init_string);
  Matrix(int rows, int columns);
  Matrix(int rows, int columns, float *m);

  // this makes an identity matrix
  Matrix(int identity_size);

  // standard stuffs.
  Matrix();
  Matrix(const Matrix& other);

  ~Matrix();

  Matrix & set(double const *data);
  Matrix & set(float const *data);

  void CopyData(float *data);
  void CopyData(double *data);

  double determinant() const;

  const Matrix& operator= (const Matrix& other);

  const Matrix& operator= (char* const init_string);

  friend const Matrix operator+ (const Matrix& a, const Matrix& b);
  friend const Matrix operator- (const Matrix& a, const Matrix& b);
  friend const Matrix operator* (const Matrix& a, const Matrix& b);
  friend const Matrix inverse(const Matrix& a);
  friend const Matrix transpose(const Matrix& a);

  friend const Matrix& m_multiply(Matrix& out, const Matrix& a,
				  const Matrix& b);
  friend const Matrix& m_inverse(Matrix& out, const Matrix& in);
  friend const Matrix& m_add(Matrix& out, const Matrix& a,
			     const Matrix& b);
  friend const Matrix& m_subtract(Matrix& out, const Matrix& a,
				  const Matrix& b);
  friend const Matrix& m_transpose(Matrix& out, const Matrix& in);

  const Matrix& transpose();
  const Matrix& identity(int size);
  const Matrix& inverse();
  const Matrix& resize(int rows_cols);
  const Matrix& resize(int row, int col);
  
  const Matrix& scale(double factor);

  inline double& e(int row, int col) const {return mat[row*c_+col];};
  inline double& e(int row) const {return mat[row*c_];};

  int nrows() const { return r_; }
  int ncols() const { return c_; }

  void print() const;
};

#endif