/**
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* @file Matrix.hpp
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*
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* A simple matrix template library.
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*
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* @author James Goppert <james.goppert@gmail.com>
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*/
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#pragma once
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#include <stdio.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#if defined(SUPPORT_STDIOSTREAM)
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#include <iostream>
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#include <iomanip>
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#endif // defined(SUPPORT_STDIOSTREAM)
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#include "math.hpp"
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namespace matrix
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{
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template <typename Type, size_t M>
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class Vector;
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template<typename Type, size_t M, size_t N>
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class Matrix
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{
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public:
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Type _data[M][N];
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virtual ~Matrix() {};
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Matrix() :
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_data()
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{
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}
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Matrix(const Type *data_) :
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_data()
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{
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memcpy(_data, data_, sizeof(_data));
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}
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Matrix(const Matrix &other) :
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_data()
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{
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memcpy(_data, other._data, sizeof(_data));
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}
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/**
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* Accessors/ Assignment etc.
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*/
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Type *data()
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{
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return _data[0];
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}
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inline Type operator()(size_t i, size_t j) const
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{
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return _data[i][j];
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}
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inline Type &operator()(size_t i, size_t j)
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{
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return _data[i][j];
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}
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Matrix<Type, M, N> & operator=(const Matrix<Type, M, N> &other)
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{
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if (this != &other) {
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memcpy(_data, other._data, sizeof(_data));
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}
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return (*this);
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}
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/**
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* Matrix Operations
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*/
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// this might use a lot of programming memory
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// since it instantiates a class for every
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// required mult pair, but it provides
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// compile time size_t checking
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template<size_t P>
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Matrix<Type, M, P> operator*(const Matrix<Type, N, P> &other) const
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{
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const Matrix<Type, M, N> &self = *this;
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Matrix<Type, M, P> res;
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res.setZero();
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for (size_t i = 0; i < M; i++) {
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for (size_t k = 0; k < P; k++) {
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for (size_t j = 0; j < N; j++) {
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res(i, k) += self(i, j) * other(j, k);
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}
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}
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}
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return res;
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}
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Matrix<Type, M, N> emult(const Matrix<Type, M, N> &other) const
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{
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Matrix<Type, M, N> res;
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const Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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res(i , j) = self(i, j)*other(i, j);
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}
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}
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return res;
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}
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Matrix<Type, M, N> operator+(const Matrix<Type, M, N> &other) const
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{
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Matrix<Type, M, N> res;
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const Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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res(i , j) = self(i, j) + other(i, j);
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}
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}
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return res;
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}
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Matrix<Type, M, N> operator-(const Matrix<Type, M, N> &other) const
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{
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Matrix<Type, M, N> res;
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const Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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res(i , j) = self(i, j) - other(i, j);
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}
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}
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return res;
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}
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// unary minus
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Matrix<Type, M, N> operator-() const
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{
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Matrix<Type, M, N> res;
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const Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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res(i , j) = -self(i, j);
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}
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}
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return res;
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}
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void operator+=(const Matrix<Type, M, N> &other)
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{
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Matrix<Type, M, N> &self = *this;
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self = self + other;
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}
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void operator-=(const Matrix<Type, M, N> &other)
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{
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Matrix<Type, M, N> &self = *this;
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self = self - other;
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}
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template<size_t P>
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void operator*=(const Matrix<Type, N, P> &other)
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{
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Matrix<Type, M, N> &self = *this;
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self = self * other;
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}
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/**
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* Scalar Operations
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*/
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Matrix<Type, M, N> operator*(Type scalar) const
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{
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Matrix<Type, M, N> res;
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const Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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res(i , j) = self(i, j) * scalar;
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}
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}
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return res;
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}
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inline Matrix<Type, M, N> operator/(Type scalar) const
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{
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return (*this)*(1/scalar);
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}
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Matrix<Type, M, N> operator+(Type scalar) const
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{
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Matrix<Type, M, N> res;
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const Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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res(i , j) = self(i, j) + scalar;
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}
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}
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return res;
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}
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inline Matrix<Type, M, N> operator-(Type scalar) const
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{
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return (*this) + (-1*scalar);
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}
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void operator*=(Type scalar)
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{
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Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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self(i, j) = self(i, j) * scalar;
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}
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}
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}
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void operator/=(Type scalar)
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{
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Matrix<Type, M, N> &self = *this;
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self = self * (1.0f / scalar);
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}
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inline void operator+=(Type scalar)
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{
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*this = (*this) + scalar;
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}
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inline void operator-=(Type scalar)
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{
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*this = (*this) - scalar;
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}
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/**
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* Misc. Functions
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*/
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void write_string(char * buf, size_t n) const
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{
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buf[0] = '\0'; // make an empty string to begin with (we need the '\0' for strlen to work)
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const Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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snprintf(buf + strlen(buf), n - strlen(buf), "\t%g", double(self(i, j))); // directly append to the string buffer
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}
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snprintf(buf + strlen(buf), n - strlen(buf), "\n");
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}
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}
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void print() const
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{
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char buf[200];
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write_string(buf, 200);
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printf("%s\n", buf);
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}
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Matrix<Type, N, M> transpose() const
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{
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Matrix<Type, N, M> res;
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const Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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res(j, i) = self(i, j);
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}
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}
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return res;
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}
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// tranpose alias
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inline Matrix<Type, N, M> T() const
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{
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return transpose();
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}
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template<size_t P, size_t Q>
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Matrix<Type, P, Q> slice(size_t x0, size_t y0) const
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{
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Matrix<Type, P, Q> res(&(_data[x0][y0]));
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return res;
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}
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template<size_t P, size_t Q>
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void set(const Matrix<Type, P, Q> &m, size_t x0, size_t y0)
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{
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Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < P; i++) {
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for (size_t j = 0; j < Q; j++) {
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self(i + x0, j + y0) = m(i, j);
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}
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}
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}
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void setRow(size_t i, const Matrix<Type, N, 1> &row)
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{
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Matrix<Type, M, N> &self = *this;
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for (size_t j = 0; j < N; j++) {
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self(i, j) = row(j, 0);
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}
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}
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void setCol(size_t j, const Matrix<Type, M, 1> &col)
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{
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Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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self(i, j) = col(i, 0);
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}
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}
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void setZero()
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{
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memset(_data, 0, sizeof(_data));
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}
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void setAll(Type val)
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{
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Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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self(i, j) = val;
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}
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}
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}
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inline void setOne()
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{
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setAll(1);
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}
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void setIdentity()
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{
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setZero();
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Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M && i < N; i++) {
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self(i, i) = 1;
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}
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}
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inline void swapRows(size_t a, size_t b)
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{
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if (a == b) {
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return;
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}
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Matrix<Type, M, N> &self = *this;
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for (size_t j = 0; j < N; j++) {
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Type tmp = self(a, j);
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self(a, j) = self(b, j);
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self(b, j) = tmp;
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}
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}
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inline void swapCols(size_t a, size_t b)
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{
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if (a == b) {
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return;
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}
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Matrix<Type, M, N> &self = *this;
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for (size_t i = 0; i < M; i++) {
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Type tmp = self(i, a);
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self(i, a) = self(i, b);
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self(i, b) = tmp;
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}
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}
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Matrix<Type, M, N> abs()
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{
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Matrix<Type, M, N> r;
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for (size_t i=0; i<M; i++) {
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for (size_t j=0; j<N; j++) {
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r(i,j) = Type(fabs((*this)(i,j)));
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}
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}
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return r;
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}
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Type max()
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{
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Type max_val = (*this)(0,0);
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for (size_t i=0; i<M; i++) {
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for (size_t j=0; j<N; j++) {
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Type val = (*this)(i,j);
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if (val > max_val) {
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max_val = val;
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}
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}
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}
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return max_val;
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}
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Type min()
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{
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Type min_val = (*this)(0,0);
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for (size_t i=0; i<M; i++) {
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for (size_t j=0; j<N; j++) {
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Type val = (*this)(i,j);
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if (val < min_val) {
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min_val = val;
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}
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}
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}
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return min_val;
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}
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};
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template<typename Type, size_t M, size_t N>
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Matrix<Type, M, N> zeros() {
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Matrix<Type, M, N> m;
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m.setZero();
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return m;
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}
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template<typename Type, size_t M, size_t N>
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Matrix<Type, M, N> ones() {
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Matrix<Type, M, N> m;
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m.setOne();
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return m;
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}
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template<typename Type, size_t M, size_t N>
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Matrix<Type, M, N> operator*(Type scalar, const Matrix<Type, M, N> &other)
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{
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return other * scalar;
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}
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template<typename Type, size_t M, size_t N>
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bool isEqual(const Matrix<Type, M, N> &x,
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const Matrix<Type, M, N> &y, const Type eps=1e-4f) {
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bool equal = true;
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for (size_t i = 0; i < M; i++) {
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for (size_t j = 0; j < N; j++) {
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if (fabs(x(i , j) - y(i, j)) > eps) {
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equal = false;
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break;
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}
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}
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if (equal == false) break;
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}
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if (!equal) {
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char buf_x[100];
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char buf_y[100];
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x.write_string(buf_x, 100);
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y.write_string(buf_y, 100);
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printf("not equal\nx:\n%s\ny:\n%s\n", buf_x, buf_y);
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}
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return equal;
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}
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template<typename Type>
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bool isEqualF(Type x,
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Type y, Type eps=1e-4f) {
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bool equal = true;
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if (fabsf(x - y) > eps) {
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equal = false;
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}
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if (!equal) {
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printf("not equal\nx:\n%g\ny:\n%g\n", double(x), double(y));
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}
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return equal;
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}
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#if defined(SUPPORT_STDIOSTREAM)
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template<typename Type, size_t M, size_t N>
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std::ostream& operator<<(std::ostream& os,
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const matrix::Matrix<Type, M, N>& matrix)
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{
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for (size_t i = 0; i < M; ++i) {
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os << "[";
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for (size_t j = 0; j < N; ++j) {
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os << std::setw(10) << static_cast<double>(matrix(i, j));
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os << "\t";
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}
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os << "]" << std::endl;
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}
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return os;
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}
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#endif // defined(SUPPORT_STDIOSTREAM)
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} // namespace matrix
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/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
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