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A fast and easy to use dense and sparse matrix linear algebra library written in Java.
/*
* Copyright (c) 2009-2020, Peter Abeles. All Rights Reserved.
*
* This file is part of Efficient Java Matrix Library (EJML).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.ejml.dense.fixed;
import org.ejml.UtilEjml;
import org.ejml.data.FMatrix6;
import org.ejml.data.FMatrix6x6;
/**
* Common matrix operations for fixed sized matrices which are 6 x 6 or 6 element vectors.
* DO NOT MODIFY. Automatically generated code created by GenerateCommonOps_DDF
*
* @author Peter Abeles
*/
public class CommonOps_FDF6 {
/**
* Performs the following operation:
*
* c = a + b
* cij = aij + bij
*
*
*
* Matrix C can be the same instance as Matrix A and/or B.
*
*
* @param a A Matrix. Not modified.
* @param b A Matrix. Not modified.
* @param c A Matrix where the results are stored. Modified.
*/
public static void add( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c ) {
c.a11 = a.a11 + b.a11;
c.a12 = a.a12 + b.a12;
c.a13 = a.a13 + b.a13;
c.a14 = a.a14 + b.a14;
c.a15 = a.a15 + b.a15;
c.a16 = a.a16 + b.a16;
c.a21 = a.a21 + b.a21;
c.a22 = a.a22 + b.a22;
c.a23 = a.a23 + b.a23;
c.a24 = a.a24 + b.a24;
c.a25 = a.a25 + b.a25;
c.a26 = a.a26 + b.a26;
c.a31 = a.a31 + b.a31;
c.a32 = a.a32 + b.a32;
c.a33 = a.a33 + b.a33;
c.a34 = a.a34 + b.a34;
c.a35 = a.a35 + b.a35;
c.a36 = a.a36 + b.a36;
c.a41 = a.a41 + b.a41;
c.a42 = a.a42 + b.a42;
c.a43 = a.a43 + b.a43;
c.a44 = a.a44 + b.a44;
c.a45 = a.a45 + b.a45;
c.a46 = a.a46 + b.a46;
c.a51 = a.a51 + b.a51;
c.a52 = a.a52 + b.a52;
c.a53 = a.a53 + b.a53;
c.a54 = a.a54 + b.a54;
c.a55 = a.a55 + b.a55;
c.a56 = a.a56 + b.a56;
c.a61 = a.a61 + b.a61;
c.a62 = a.a62 + b.a62;
c.a63 = a.a63 + b.a63;
c.a64 = a.a64 + b.a64;
c.a65 = a.a65 + b.a65;
c.a66 = a.a66 + b.a66;
}
/**
* Performs the following operation:
*
* c = a + b
* ci = ai + bi
*
*
*
* Vector C can be the same instance as Vector A and/or B.
*
*
* @param a A Vector. Not modified.
* @param b A Vector. Not modified.
* @param c A Vector where the results are stored. Modified.
*/
public static void add( FMatrix6 a , FMatrix6 b , FMatrix6 c ) {
c.a1 = a.a1 + b.a1;
c.a2 = a.a2 + b.a2;
c.a3 = a.a3 + b.a3;
c.a4 = a.a4 + b.a4;
c.a5 = a.a5 + b.a5;
c.a6 = a.a6 + b.a6;
}
/**
* Performs the following operation:
*
* a = a + b
* aij = aij + bij
*
*
* @param a A Matrix. Modified.
* @param b A Matrix. Not modified.
*/
public static void addEquals( FMatrix6x6 a , FMatrix6x6 b ) {
a.a11 += b.a11;
a.a12 += b.a12;
a.a13 += b.a13;
a.a14 += b.a14;
a.a15 += b.a15;
a.a16 += b.a16;
a.a21 += b.a21;
a.a22 += b.a22;
a.a23 += b.a23;
a.a24 += b.a24;
a.a25 += b.a25;
a.a26 += b.a26;
a.a31 += b.a31;
a.a32 += b.a32;
a.a33 += b.a33;
a.a34 += b.a34;
a.a35 += b.a35;
a.a36 += b.a36;
a.a41 += b.a41;
a.a42 += b.a42;
a.a43 += b.a43;
a.a44 += b.a44;
a.a45 += b.a45;
a.a46 += b.a46;
a.a51 += b.a51;
a.a52 += b.a52;
a.a53 += b.a53;
a.a54 += b.a54;
a.a55 += b.a55;
a.a56 += b.a56;
a.a61 += b.a61;
a.a62 += b.a62;
a.a63 += b.a63;
a.a64 += b.a64;
a.a65 += b.a65;
a.a66 += b.a66;
}
/**
* Performs the following operation:
*
* a = a + b
* ai = ai + bi
*
*
* @param a A Vector. Modified.
* @param b A Vector. Not modified.
*/
public static void addEquals( FMatrix6 a , FMatrix6 b ) {
a.a1 += b.a1;
a.a2 += b.a2;
a.a3 += b.a3;
a.a4 += b.a4;
a.a5 += b.a5;
a.a6 += b.a6;
}
/**
* Performs the following operation:
*
* c = a - b
* cij = aij - bij
*
*
*
* Matrix C can be the same instance as Matrix A and/or B.
*
*
* @param a A Matrix. Not modified.
* @param b A Matrix. Not modified.
* @param c A Matrix where the results are stored. Modified.
*/
public static void subtract( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c ) {
c.a11 = a.a11 - b.a11;
c.a12 = a.a12 - b.a12;
c.a13 = a.a13 - b.a13;
c.a14 = a.a14 - b.a14;
c.a15 = a.a15 - b.a15;
c.a16 = a.a16 - b.a16;
c.a21 = a.a21 - b.a21;
c.a22 = a.a22 - b.a22;
c.a23 = a.a23 - b.a23;
c.a24 = a.a24 - b.a24;
c.a25 = a.a25 - b.a25;
c.a26 = a.a26 - b.a26;
c.a31 = a.a31 - b.a31;
c.a32 = a.a32 - b.a32;
c.a33 = a.a33 - b.a33;
c.a34 = a.a34 - b.a34;
c.a35 = a.a35 - b.a35;
c.a36 = a.a36 - b.a36;
c.a41 = a.a41 - b.a41;
c.a42 = a.a42 - b.a42;
c.a43 = a.a43 - b.a43;
c.a44 = a.a44 - b.a44;
c.a45 = a.a45 - b.a45;
c.a46 = a.a46 - b.a46;
c.a51 = a.a51 - b.a51;
c.a52 = a.a52 - b.a52;
c.a53 = a.a53 - b.a53;
c.a54 = a.a54 - b.a54;
c.a55 = a.a55 - b.a55;
c.a56 = a.a56 - b.a56;
c.a61 = a.a61 - b.a61;
c.a62 = a.a62 - b.a62;
c.a63 = a.a63 - b.a63;
c.a64 = a.a64 - b.a64;
c.a65 = a.a65 - b.a65;
c.a66 = a.a66 - b.a66;
}
/**
* Performs the following operation:
*
* c = a - b
* ci = ai - bi
*
*
*
* Vector C can be the same instance as Vector A and/or B.
*
*
* @param a A Vector. Not modified.
* @param b A Vector. Not modified.
* @param c A Vector where the results are stored. Modified.
*/
public static void subtract( FMatrix6 a , FMatrix6 b , FMatrix6 c ) {
c.a1 = a.a1 - b.a1;
c.a2 = a.a2 - b.a2;
c.a3 = a.a3 - b.a3;
c.a4 = a.a4 - b.a4;
c.a5 = a.a5 - b.a5;
c.a6 = a.a6 - b.a6;
}
/**
* Performs the following operation:
*
* a = a - b
* aij = aij - bij
*
*
* @param a A Matrix. Modified.
* @param b A Matrix. Not modified.
*/
public static void subtractEquals( FMatrix6x6 a , FMatrix6x6 b ) {
a.a11 -= b.a11;
a.a12 -= b.a12;
a.a13 -= b.a13;
a.a14 -= b.a14;
a.a15 -= b.a15;
a.a16 -= b.a16;
a.a21 -= b.a21;
a.a22 -= b.a22;
a.a23 -= b.a23;
a.a24 -= b.a24;
a.a25 -= b.a25;
a.a26 -= b.a26;
a.a31 -= b.a31;
a.a32 -= b.a32;
a.a33 -= b.a33;
a.a34 -= b.a34;
a.a35 -= b.a35;
a.a36 -= b.a36;
a.a41 -= b.a41;
a.a42 -= b.a42;
a.a43 -= b.a43;
a.a44 -= b.a44;
a.a45 -= b.a45;
a.a46 -= b.a46;
a.a51 -= b.a51;
a.a52 -= b.a52;
a.a53 -= b.a53;
a.a54 -= b.a54;
a.a55 -= b.a55;
a.a56 -= b.a56;
a.a61 -= b.a61;
a.a62 -= b.a62;
a.a63 -= b.a63;
a.a64 -= b.a64;
a.a65 -= b.a65;
a.a66 -= b.a66;
}
/**
* Performs the following operation:
*
* a = a - b
* ai = ai - bi
*
*
* @param a A Vector. Modified.
* @param b A Vector. Not modified.
*/
public static void subtractEquals( FMatrix6 a , FMatrix6 b ) {
a.a1 -= b.a1;
a.a2 -= b.a2;
a.a3 -= b.a3;
a.a4 -= b.a4;
a.a5 -= b.a5;
a.a6 -= b.a6;
}
/**
* Performs an in-place transpose. This algorithm is only efficient for square
* matrices.
*
* @param m The matrix that is to be transposed. Modified.
*/
public static void transpose( FMatrix6x6 m ) {
float tmp;
tmp = m.a12; m.a12 = m.a21; m.a21 = tmp;
tmp = m.a13; m.a13 = m.a31; m.a31 = tmp;
tmp = m.a14; m.a14 = m.a41; m.a41 = tmp;
tmp = m.a15; m.a15 = m.a51; m.a51 = tmp;
tmp = m.a16; m.a16 = m.a61; m.a61 = tmp;
tmp = m.a23; m.a23 = m.a32; m.a32 = tmp;
tmp = m.a24; m.a24 = m.a42; m.a42 = tmp;
tmp = m.a25; m.a25 = m.a52; m.a52 = tmp;
tmp = m.a26; m.a26 = m.a62; m.a62 = tmp;
tmp = m.a34; m.a34 = m.a43; m.a43 = tmp;
tmp = m.a35; m.a35 = m.a53; m.a53 = tmp;
tmp = m.a36; m.a36 = m.a63; m.a63 = tmp;
tmp = m.a45; m.a45 = m.a54; m.a54 = tmp;
tmp = m.a46; m.a46 = m.a64; m.a64 = tmp;
tmp = m.a56; m.a56 = m.a65; m.a65 = tmp;
}
/**
*
* Transposes matrix 'a' and stores the results in 'b':
*
* bij = aji
* where 'b' is the transpose of 'a'.
*
*
* @param input The original matrix. Not modified.
* @param output Where the transpose is stored. If null a new matrix is created. Modified.
* @return The transposed matrix.
*/
public static FMatrix6x6 transpose( FMatrix6x6 input , FMatrix6x6 output ) {
if( input == null )
input = new FMatrix6x6();
UtilEjml.checkSameInstance(input,output);
output.a11 = input.a11;
output.a12 = input.a21;
output.a13 = input.a31;
output.a14 = input.a41;
output.a15 = input.a51;
output.a16 = input.a61;
output.a21 = input.a12;
output.a22 = input.a22;
output.a23 = input.a32;
output.a24 = input.a42;
output.a25 = input.a52;
output.a26 = input.a62;
output.a31 = input.a13;
output.a32 = input.a23;
output.a33 = input.a33;
output.a34 = input.a43;
output.a35 = input.a53;
output.a36 = input.a63;
output.a41 = input.a14;
output.a42 = input.a24;
output.a43 = input.a34;
output.a44 = input.a44;
output.a45 = input.a54;
output.a46 = input.a64;
output.a51 = input.a15;
output.a52 = input.a25;
output.a53 = input.a35;
output.a54 = input.a45;
output.a55 = input.a55;
output.a56 = input.a65;
output.a61 = input.a16;
output.a62 = input.a26;
output.a63 = input.a36;
output.a64 = input.a46;
output.a65 = input.a56;
output.a66 = input.a66;
return output;
}
/**
* Performs the following operation:
*
* c = a * b
*
* cij = ∑k=1:n { aik * bkj}
*
*
* @param a The left matrix in the multiplication operation. Not modified.
* @param b The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void mult( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 = a.a11*b.a11 + a.a12*b.a21 + a.a13*b.a31 + a.a14*b.a41 + a.a15*b.a51 + a.a16*b.a61;
c.a12 = a.a11*b.a12 + a.a12*b.a22 + a.a13*b.a32 + a.a14*b.a42 + a.a15*b.a52 + a.a16*b.a62;
c.a13 = a.a11*b.a13 + a.a12*b.a23 + a.a13*b.a33 + a.a14*b.a43 + a.a15*b.a53 + a.a16*b.a63;
c.a14 = a.a11*b.a14 + a.a12*b.a24 + a.a13*b.a34 + a.a14*b.a44 + a.a15*b.a54 + a.a16*b.a64;
c.a15 = a.a11*b.a15 + a.a12*b.a25 + a.a13*b.a35 + a.a14*b.a45 + a.a15*b.a55 + a.a16*b.a65;
c.a16 = a.a11*b.a16 + a.a12*b.a26 + a.a13*b.a36 + a.a14*b.a46 + a.a15*b.a56 + a.a16*b.a66;
c.a21 = a.a21*b.a11 + a.a22*b.a21 + a.a23*b.a31 + a.a24*b.a41 + a.a25*b.a51 + a.a26*b.a61;
c.a22 = a.a21*b.a12 + a.a22*b.a22 + a.a23*b.a32 + a.a24*b.a42 + a.a25*b.a52 + a.a26*b.a62;
c.a23 = a.a21*b.a13 + a.a22*b.a23 + a.a23*b.a33 + a.a24*b.a43 + a.a25*b.a53 + a.a26*b.a63;
c.a24 = a.a21*b.a14 + a.a22*b.a24 + a.a23*b.a34 + a.a24*b.a44 + a.a25*b.a54 + a.a26*b.a64;
c.a25 = a.a21*b.a15 + a.a22*b.a25 + a.a23*b.a35 + a.a24*b.a45 + a.a25*b.a55 + a.a26*b.a65;
c.a26 = a.a21*b.a16 + a.a22*b.a26 + a.a23*b.a36 + a.a24*b.a46 + a.a25*b.a56 + a.a26*b.a66;
c.a31 = a.a31*b.a11 + a.a32*b.a21 + a.a33*b.a31 + a.a34*b.a41 + a.a35*b.a51 + a.a36*b.a61;
c.a32 = a.a31*b.a12 + a.a32*b.a22 + a.a33*b.a32 + a.a34*b.a42 + a.a35*b.a52 + a.a36*b.a62;
c.a33 = a.a31*b.a13 + a.a32*b.a23 + a.a33*b.a33 + a.a34*b.a43 + a.a35*b.a53 + a.a36*b.a63;
c.a34 = a.a31*b.a14 + a.a32*b.a24 + a.a33*b.a34 + a.a34*b.a44 + a.a35*b.a54 + a.a36*b.a64;
c.a35 = a.a31*b.a15 + a.a32*b.a25 + a.a33*b.a35 + a.a34*b.a45 + a.a35*b.a55 + a.a36*b.a65;
c.a36 = a.a31*b.a16 + a.a32*b.a26 + a.a33*b.a36 + a.a34*b.a46 + a.a35*b.a56 + a.a36*b.a66;
c.a41 = a.a41*b.a11 + a.a42*b.a21 + a.a43*b.a31 + a.a44*b.a41 + a.a45*b.a51 + a.a46*b.a61;
c.a42 = a.a41*b.a12 + a.a42*b.a22 + a.a43*b.a32 + a.a44*b.a42 + a.a45*b.a52 + a.a46*b.a62;
c.a43 = a.a41*b.a13 + a.a42*b.a23 + a.a43*b.a33 + a.a44*b.a43 + a.a45*b.a53 + a.a46*b.a63;
c.a44 = a.a41*b.a14 + a.a42*b.a24 + a.a43*b.a34 + a.a44*b.a44 + a.a45*b.a54 + a.a46*b.a64;
c.a45 = a.a41*b.a15 + a.a42*b.a25 + a.a43*b.a35 + a.a44*b.a45 + a.a45*b.a55 + a.a46*b.a65;
c.a46 = a.a41*b.a16 + a.a42*b.a26 + a.a43*b.a36 + a.a44*b.a46 + a.a45*b.a56 + a.a46*b.a66;
c.a51 = a.a51*b.a11 + a.a52*b.a21 + a.a53*b.a31 + a.a54*b.a41 + a.a55*b.a51 + a.a56*b.a61;
c.a52 = a.a51*b.a12 + a.a52*b.a22 + a.a53*b.a32 + a.a54*b.a42 + a.a55*b.a52 + a.a56*b.a62;
c.a53 = a.a51*b.a13 + a.a52*b.a23 + a.a53*b.a33 + a.a54*b.a43 + a.a55*b.a53 + a.a56*b.a63;
c.a54 = a.a51*b.a14 + a.a52*b.a24 + a.a53*b.a34 + a.a54*b.a44 + a.a55*b.a54 + a.a56*b.a64;
c.a55 = a.a51*b.a15 + a.a52*b.a25 + a.a53*b.a35 + a.a54*b.a45 + a.a55*b.a55 + a.a56*b.a65;
c.a56 = a.a51*b.a16 + a.a52*b.a26 + a.a53*b.a36 + a.a54*b.a46 + a.a55*b.a56 + a.a56*b.a66;
c.a61 = a.a61*b.a11 + a.a62*b.a21 + a.a63*b.a31 + a.a64*b.a41 + a.a65*b.a51 + a.a66*b.a61;
c.a62 = a.a61*b.a12 + a.a62*b.a22 + a.a63*b.a32 + a.a64*b.a42 + a.a65*b.a52 + a.a66*b.a62;
c.a63 = a.a61*b.a13 + a.a62*b.a23 + a.a63*b.a33 + a.a64*b.a43 + a.a65*b.a53 + a.a66*b.a63;
c.a64 = a.a61*b.a14 + a.a62*b.a24 + a.a63*b.a34 + a.a64*b.a44 + a.a65*b.a54 + a.a66*b.a64;
c.a65 = a.a61*b.a15 + a.a62*b.a25 + a.a63*b.a35 + a.a64*b.a45 + a.a65*b.a55 + a.a66*b.a65;
c.a66 = a.a61*b.a16 + a.a62*b.a26 + a.a63*b.a36 + a.a64*b.a46 + a.a65*b.a56 + a.a66*b.a66;
}
/**
* Performs the following operation:
*
* c = α * a * b
*
* cij = α ∑k=1:n { aik * bkj}
*
*
* @param alpha Scaling factor.
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void mult( float alpha , FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 = alpha*(a.a11*b.a11 + a.a12*b.a21 + a.a13*b.a31 + a.a14*b.a41 + a.a15*b.a51 + a.a16*b.a61);
c.a12 = alpha*(a.a11*b.a12 + a.a12*b.a22 + a.a13*b.a32 + a.a14*b.a42 + a.a15*b.a52 + a.a16*b.a62);
c.a13 = alpha*(a.a11*b.a13 + a.a12*b.a23 + a.a13*b.a33 + a.a14*b.a43 + a.a15*b.a53 + a.a16*b.a63);
c.a14 = alpha*(a.a11*b.a14 + a.a12*b.a24 + a.a13*b.a34 + a.a14*b.a44 + a.a15*b.a54 + a.a16*b.a64);
c.a15 = alpha*(a.a11*b.a15 + a.a12*b.a25 + a.a13*b.a35 + a.a14*b.a45 + a.a15*b.a55 + a.a16*b.a65);
c.a16 = alpha*(a.a11*b.a16 + a.a12*b.a26 + a.a13*b.a36 + a.a14*b.a46 + a.a15*b.a56 + a.a16*b.a66);
c.a21 = alpha*(a.a21*b.a11 + a.a22*b.a21 + a.a23*b.a31 + a.a24*b.a41 + a.a25*b.a51 + a.a26*b.a61);
c.a22 = alpha*(a.a21*b.a12 + a.a22*b.a22 + a.a23*b.a32 + a.a24*b.a42 + a.a25*b.a52 + a.a26*b.a62);
c.a23 = alpha*(a.a21*b.a13 + a.a22*b.a23 + a.a23*b.a33 + a.a24*b.a43 + a.a25*b.a53 + a.a26*b.a63);
c.a24 = alpha*(a.a21*b.a14 + a.a22*b.a24 + a.a23*b.a34 + a.a24*b.a44 + a.a25*b.a54 + a.a26*b.a64);
c.a25 = alpha*(a.a21*b.a15 + a.a22*b.a25 + a.a23*b.a35 + a.a24*b.a45 + a.a25*b.a55 + a.a26*b.a65);
c.a26 = alpha*(a.a21*b.a16 + a.a22*b.a26 + a.a23*b.a36 + a.a24*b.a46 + a.a25*b.a56 + a.a26*b.a66);
c.a31 = alpha*(a.a31*b.a11 + a.a32*b.a21 + a.a33*b.a31 + a.a34*b.a41 + a.a35*b.a51 + a.a36*b.a61);
c.a32 = alpha*(a.a31*b.a12 + a.a32*b.a22 + a.a33*b.a32 + a.a34*b.a42 + a.a35*b.a52 + a.a36*b.a62);
c.a33 = alpha*(a.a31*b.a13 + a.a32*b.a23 + a.a33*b.a33 + a.a34*b.a43 + a.a35*b.a53 + a.a36*b.a63);
c.a34 = alpha*(a.a31*b.a14 + a.a32*b.a24 + a.a33*b.a34 + a.a34*b.a44 + a.a35*b.a54 + a.a36*b.a64);
c.a35 = alpha*(a.a31*b.a15 + a.a32*b.a25 + a.a33*b.a35 + a.a34*b.a45 + a.a35*b.a55 + a.a36*b.a65);
c.a36 = alpha*(a.a31*b.a16 + a.a32*b.a26 + a.a33*b.a36 + a.a34*b.a46 + a.a35*b.a56 + a.a36*b.a66);
c.a41 = alpha*(a.a41*b.a11 + a.a42*b.a21 + a.a43*b.a31 + a.a44*b.a41 + a.a45*b.a51 + a.a46*b.a61);
c.a42 = alpha*(a.a41*b.a12 + a.a42*b.a22 + a.a43*b.a32 + a.a44*b.a42 + a.a45*b.a52 + a.a46*b.a62);
c.a43 = alpha*(a.a41*b.a13 + a.a42*b.a23 + a.a43*b.a33 + a.a44*b.a43 + a.a45*b.a53 + a.a46*b.a63);
c.a44 = alpha*(a.a41*b.a14 + a.a42*b.a24 + a.a43*b.a34 + a.a44*b.a44 + a.a45*b.a54 + a.a46*b.a64);
c.a45 = alpha*(a.a41*b.a15 + a.a42*b.a25 + a.a43*b.a35 + a.a44*b.a45 + a.a45*b.a55 + a.a46*b.a65);
c.a46 = alpha*(a.a41*b.a16 + a.a42*b.a26 + a.a43*b.a36 + a.a44*b.a46 + a.a45*b.a56 + a.a46*b.a66);
c.a51 = alpha*(a.a51*b.a11 + a.a52*b.a21 + a.a53*b.a31 + a.a54*b.a41 + a.a55*b.a51 + a.a56*b.a61);
c.a52 = alpha*(a.a51*b.a12 + a.a52*b.a22 + a.a53*b.a32 + a.a54*b.a42 + a.a55*b.a52 + a.a56*b.a62);
c.a53 = alpha*(a.a51*b.a13 + a.a52*b.a23 + a.a53*b.a33 + a.a54*b.a43 + a.a55*b.a53 + a.a56*b.a63);
c.a54 = alpha*(a.a51*b.a14 + a.a52*b.a24 + a.a53*b.a34 + a.a54*b.a44 + a.a55*b.a54 + a.a56*b.a64);
c.a55 = alpha*(a.a51*b.a15 + a.a52*b.a25 + a.a53*b.a35 + a.a54*b.a45 + a.a55*b.a55 + a.a56*b.a65);
c.a56 = alpha*(a.a51*b.a16 + a.a52*b.a26 + a.a53*b.a36 + a.a54*b.a46 + a.a55*b.a56 + a.a56*b.a66);
c.a61 = alpha*(a.a61*b.a11 + a.a62*b.a21 + a.a63*b.a31 + a.a64*b.a41 + a.a65*b.a51 + a.a66*b.a61);
c.a62 = alpha*(a.a61*b.a12 + a.a62*b.a22 + a.a63*b.a32 + a.a64*b.a42 + a.a65*b.a52 + a.a66*b.a62);
c.a63 = alpha*(a.a61*b.a13 + a.a62*b.a23 + a.a63*b.a33 + a.a64*b.a43 + a.a65*b.a53 + a.a66*b.a63);
c.a64 = alpha*(a.a61*b.a14 + a.a62*b.a24 + a.a63*b.a34 + a.a64*b.a44 + a.a65*b.a54 + a.a66*b.a64);
c.a65 = alpha*(a.a61*b.a15 + a.a62*b.a25 + a.a63*b.a35 + a.a64*b.a45 + a.a65*b.a55 + a.a66*b.a65);
c.a66 = alpha*(a.a61*b.a16 + a.a62*b.a26 + a.a63*b.a36 + a.a64*b.a46 + a.a65*b.a56 + a.a66*b.a66);
}
/**
* Performs the following operation:
*
* c = aT * b
*
* cij = ∑k=1:n { aki * bkj}
*
*
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multTransA( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 = a.a11*b.a11 + a.a21*b.a21 + a.a31*b.a31 + a.a41*b.a41 + a.a51*b.a51 + a.a61*b.a61;
c.a12 = a.a11*b.a12 + a.a21*b.a22 + a.a31*b.a32 + a.a41*b.a42 + a.a51*b.a52 + a.a61*b.a62;
c.a13 = a.a11*b.a13 + a.a21*b.a23 + a.a31*b.a33 + a.a41*b.a43 + a.a51*b.a53 + a.a61*b.a63;
c.a14 = a.a11*b.a14 + a.a21*b.a24 + a.a31*b.a34 + a.a41*b.a44 + a.a51*b.a54 + a.a61*b.a64;
c.a15 = a.a11*b.a15 + a.a21*b.a25 + a.a31*b.a35 + a.a41*b.a45 + a.a51*b.a55 + a.a61*b.a65;
c.a16 = a.a11*b.a16 + a.a21*b.a26 + a.a31*b.a36 + a.a41*b.a46 + a.a51*b.a56 + a.a61*b.a66;
c.a21 = a.a12*b.a11 + a.a22*b.a21 + a.a32*b.a31 + a.a42*b.a41 + a.a52*b.a51 + a.a62*b.a61;
c.a22 = a.a12*b.a12 + a.a22*b.a22 + a.a32*b.a32 + a.a42*b.a42 + a.a52*b.a52 + a.a62*b.a62;
c.a23 = a.a12*b.a13 + a.a22*b.a23 + a.a32*b.a33 + a.a42*b.a43 + a.a52*b.a53 + a.a62*b.a63;
c.a24 = a.a12*b.a14 + a.a22*b.a24 + a.a32*b.a34 + a.a42*b.a44 + a.a52*b.a54 + a.a62*b.a64;
c.a25 = a.a12*b.a15 + a.a22*b.a25 + a.a32*b.a35 + a.a42*b.a45 + a.a52*b.a55 + a.a62*b.a65;
c.a26 = a.a12*b.a16 + a.a22*b.a26 + a.a32*b.a36 + a.a42*b.a46 + a.a52*b.a56 + a.a62*b.a66;
c.a31 = a.a13*b.a11 + a.a23*b.a21 + a.a33*b.a31 + a.a43*b.a41 + a.a53*b.a51 + a.a63*b.a61;
c.a32 = a.a13*b.a12 + a.a23*b.a22 + a.a33*b.a32 + a.a43*b.a42 + a.a53*b.a52 + a.a63*b.a62;
c.a33 = a.a13*b.a13 + a.a23*b.a23 + a.a33*b.a33 + a.a43*b.a43 + a.a53*b.a53 + a.a63*b.a63;
c.a34 = a.a13*b.a14 + a.a23*b.a24 + a.a33*b.a34 + a.a43*b.a44 + a.a53*b.a54 + a.a63*b.a64;
c.a35 = a.a13*b.a15 + a.a23*b.a25 + a.a33*b.a35 + a.a43*b.a45 + a.a53*b.a55 + a.a63*b.a65;
c.a36 = a.a13*b.a16 + a.a23*b.a26 + a.a33*b.a36 + a.a43*b.a46 + a.a53*b.a56 + a.a63*b.a66;
c.a41 = a.a14*b.a11 + a.a24*b.a21 + a.a34*b.a31 + a.a44*b.a41 + a.a54*b.a51 + a.a64*b.a61;
c.a42 = a.a14*b.a12 + a.a24*b.a22 + a.a34*b.a32 + a.a44*b.a42 + a.a54*b.a52 + a.a64*b.a62;
c.a43 = a.a14*b.a13 + a.a24*b.a23 + a.a34*b.a33 + a.a44*b.a43 + a.a54*b.a53 + a.a64*b.a63;
c.a44 = a.a14*b.a14 + a.a24*b.a24 + a.a34*b.a34 + a.a44*b.a44 + a.a54*b.a54 + a.a64*b.a64;
c.a45 = a.a14*b.a15 + a.a24*b.a25 + a.a34*b.a35 + a.a44*b.a45 + a.a54*b.a55 + a.a64*b.a65;
c.a46 = a.a14*b.a16 + a.a24*b.a26 + a.a34*b.a36 + a.a44*b.a46 + a.a54*b.a56 + a.a64*b.a66;
c.a51 = a.a15*b.a11 + a.a25*b.a21 + a.a35*b.a31 + a.a45*b.a41 + a.a55*b.a51 + a.a65*b.a61;
c.a52 = a.a15*b.a12 + a.a25*b.a22 + a.a35*b.a32 + a.a45*b.a42 + a.a55*b.a52 + a.a65*b.a62;
c.a53 = a.a15*b.a13 + a.a25*b.a23 + a.a35*b.a33 + a.a45*b.a43 + a.a55*b.a53 + a.a65*b.a63;
c.a54 = a.a15*b.a14 + a.a25*b.a24 + a.a35*b.a34 + a.a45*b.a44 + a.a55*b.a54 + a.a65*b.a64;
c.a55 = a.a15*b.a15 + a.a25*b.a25 + a.a35*b.a35 + a.a45*b.a45 + a.a55*b.a55 + a.a65*b.a65;
c.a56 = a.a15*b.a16 + a.a25*b.a26 + a.a35*b.a36 + a.a45*b.a46 + a.a55*b.a56 + a.a65*b.a66;
c.a61 = a.a16*b.a11 + a.a26*b.a21 + a.a36*b.a31 + a.a46*b.a41 + a.a56*b.a51 + a.a66*b.a61;
c.a62 = a.a16*b.a12 + a.a26*b.a22 + a.a36*b.a32 + a.a46*b.a42 + a.a56*b.a52 + a.a66*b.a62;
c.a63 = a.a16*b.a13 + a.a26*b.a23 + a.a36*b.a33 + a.a46*b.a43 + a.a56*b.a53 + a.a66*b.a63;
c.a64 = a.a16*b.a14 + a.a26*b.a24 + a.a36*b.a34 + a.a46*b.a44 + a.a56*b.a54 + a.a66*b.a64;
c.a65 = a.a16*b.a15 + a.a26*b.a25 + a.a36*b.a35 + a.a46*b.a45 + a.a56*b.a55 + a.a66*b.a65;
c.a66 = a.a16*b.a16 + a.a26*b.a26 + a.a36*b.a36 + a.a46*b.a46 + a.a56*b.a56 + a.a66*b.a66;
}
/**
* Performs the following operation:
*
* c = α * aT * b
*
* cij = α * ∑k=1:n { aki * bkj}
*
*
* @param alpha Scaling factor.
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multTransA( float alpha , FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 = alpha*(a.a11*b.a11 + a.a21*b.a21 + a.a31*b.a31 + a.a41*b.a41 + a.a51*b.a51 + a.a61*b.a61);
c.a12 = alpha*(a.a11*b.a12 + a.a21*b.a22 + a.a31*b.a32 + a.a41*b.a42 + a.a51*b.a52 + a.a61*b.a62);
c.a13 = alpha*(a.a11*b.a13 + a.a21*b.a23 + a.a31*b.a33 + a.a41*b.a43 + a.a51*b.a53 + a.a61*b.a63);
c.a14 = alpha*(a.a11*b.a14 + a.a21*b.a24 + a.a31*b.a34 + a.a41*b.a44 + a.a51*b.a54 + a.a61*b.a64);
c.a15 = alpha*(a.a11*b.a15 + a.a21*b.a25 + a.a31*b.a35 + a.a41*b.a45 + a.a51*b.a55 + a.a61*b.a65);
c.a16 = alpha*(a.a11*b.a16 + a.a21*b.a26 + a.a31*b.a36 + a.a41*b.a46 + a.a51*b.a56 + a.a61*b.a66);
c.a21 = alpha*(a.a12*b.a11 + a.a22*b.a21 + a.a32*b.a31 + a.a42*b.a41 + a.a52*b.a51 + a.a62*b.a61);
c.a22 = alpha*(a.a12*b.a12 + a.a22*b.a22 + a.a32*b.a32 + a.a42*b.a42 + a.a52*b.a52 + a.a62*b.a62);
c.a23 = alpha*(a.a12*b.a13 + a.a22*b.a23 + a.a32*b.a33 + a.a42*b.a43 + a.a52*b.a53 + a.a62*b.a63);
c.a24 = alpha*(a.a12*b.a14 + a.a22*b.a24 + a.a32*b.a34 + a.a42*b.a44 + a.a52*b.a54 + a.a62*b.a64);
c.a25 = alpha*(a.a12*b.a15 + a.a22*b.a25 + a.a32*b.a35 + a.a42*b.a45 + a.a52*b.a55 + a.a62*b.a65);
c.a26 = alpha*(a.a12*b.a16 + a.a22*b.a26 + a.a32*b.a36 + a.a42*b.a46 + a.a52*b.a56 + a.a62*b.a66);
c.a31 = alpha*(a.a13*b.a11 + a.a23*b.a21 + a.a33*b.a31 + a.a43*b.a41 + a.a53*b.a51 + a.a63*b.a61);
c.a32 = alpha*(a.a13*b.a12 + a.a23*b.a22 + a.a33*b.a32 + a.a43*b.a42 + a.a53*b.a52 + a.a63*b.a62);
c.a33 = alpha*(a.a13*b.a13 + a.a23*b.a23 + a.a33*b.a33 + a.a43*b.a43 + a.a53*b.a53 + a.a63*b.a63);
c.a34 = alpha*(a.a13*b.a14 + a.a23*b.a24 + a.a33*b.a34 + a.a43*b.a44 + a.a53*b.a54 + a.a63*b.a64);
c.a35 = alpha*(a.a13*b.a15 + a.a23*b.a25 + a.a33*b.a35 + a.a43*b.a45 + a.a53*b.a55 + a.a63*b.a65);
c.a36 = alpha*(a.a13*b.a16 + a.a23*b.a26 + a.a33*b.a36 + a.a43*b.a46 + a.a53*b.a56 + a.a63*b.a66);
c.a41 = alpha*(a.a14*b.a11 + a.a24*b.a21 + a.a34*b.a31 + a.a44*b.a41 + a.a54*b.a51 + a.a64*b.a61);
c.a42 = alpha*(a.a14*b.a12 + a.a24*b.a22 + a.a34*b.a32 + a.a44*b.a42 + a.a54*b.a52 + a.a64*b.a62);
c.a43 = alpha*(a.a14*b.a13 + a.a24*b.a23 + a.a34*b.a33 + a.a44*b.a43 + a.a54*b.a53 + a.a64*b.a63);
c.a44 = alpha*(a.a14*b.a14 + a.a24*b.a24 + a.a34*b.a34 + a.a44*b.a44 + a.a54*b.a54 + a.a64*b.a64);
c.a45 = alpha*(a.a14*b.a15 + a.a24*b.a25 + a.a34*b.a35 + a.a44*b.a45 + a.a54*b.a55 + a.a64*b.a65);
c.a46 = alpha*(a.a14*b.a16 + a.a24*b.a26 + a.a34*b.a36 + a.a44*b.a46 + a.a54*b.a56 + a.a64*b.a66);
c.a51 = alpha*(a.a15*b.a11 + a.a25*b.a21 + a.a35*b.a31 + a.a45*b.a41 + a.a55*b.a51 + a.a65*b.a61);
c.a52 = alpha*(a.a15*b.a12 + a.a25*b.a22 + a.a35*b.a32 + a.a45*b.a42 + a.a55*b.a52 + a.a65*b.a62);
c.a53 = alpha*(a.a15*b.a13 + a.a25*b.a23 + a.a35*b.a33 + a.a45*b.a43 + a.a55*b.a53 + a.a65*b.a63);
c.a54 = alpha*(a.a15*b.a14 + a.a25*b.a24 + a.a35*b.a34 + a.a45*b.a44 + a.a55*b.a54 + a.a65*b.a64);
c.a55 = alpha*(a.a15*b.a15 + a.a25*b.a25 + a.a35*b.a35 + a.a45*b.a45 + a.a55*b.a55 + a.a65*b.a65);
c.a56 = alpha*(a.a15*b.a16 + a.a25*b.a26 + a.a35*b.a36 + a.a45*b.a46 + a.a55*b.a56 + a.a65*b.a66);
c.a61 = alpha*(a.a16*b.a11 + a.a26*b.a21 + a.a36*b.a31 + a.a46*b.a41 + a.a56*b.a51 + a.a66*b.a61);
c.a62 = alpha*(a.a16*b.a12 + a.a26*b.a22 + a.a36*b.a32 + a.a46*b.a42 + a.a56*b.a52 + a.a66*b.a62);
c.a63 = alpha*(a.a16*b.a13 + a.a26*b.a23 + a.a36*b.a33 + a.a46*b.a43 + a.a56*b.a53 + a.a66*b.a63);
c.a64 = alpha*(a.a16*b.a14 + a.a26*b.a24 + a.a36*b.a34 + a.a46*b.a44 + a.a56*b.a54 + a.a66*b.a64);
c.a65 = alpha*(a.a16*b.a15 + a.a26*b.a25 + a.a36*b.a35 + a.a46*b.a45 + a.a56*b.a55 + a.a66*b.a65);
c.a66 = alpha*(a.a16*b.a16 + a.a26*b.a26 + a.a36*b.a36 + a.a46*b.a46 + a.a56*b.a56 + a.a66*b.a66);
}
/**
*
* Performs the following operation:
*
* c = aT * bT
* cij = ∑k=1:n { aki * bjk}
*
*
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multTransAB( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 = a.a11*b.a11 + a.a21*b.a12 + a.a31*b.a13 + a.a41*b.a14 + a.a51*b.a15 + a.a61*b.a16;
c.a12 = a.a11*b.a21 + a.a21*b.a22 + a.a31*b.a23 + a.a41*b.a24 + a.a51*b.a25 + a.a61*b.a26;
c.a13 = a.a11*b.a31 + a.a21*b.a32 + a.a31*b.a33 + a.a41*b.a34 + a.a51*b.a35 + a.a61*b.a36;
c.a14 = a.a11*b.a41 + a.a21*b.a42 + a.a31*b.a43 + a.a41*b.a44 + a.a51*b.a45 + a.a61*b.a46;
c.a15 = a.a11*b.a51 + a.a21*b.a52 + a.a31*b.a53 + a.a41*b.a54 + a.a51*b.a55 + a.a61*b.a56;
c.a16 = a.a11*b.a61 + a.a21*b.a62 + a.a31*b.a63 + a.a41*b.a64 + a.a51*b.a65 + a.a61*b.a66;
c.a21 = a.a12*b.a11 + a.a22*b.a12 + a.a32*b.a13 + a.a42*b.a14 + a.a52*b.a15 + a.a62*b.a16;
c.a22 = a.a12*b.a21 + a.a22*b.a22 + a.a32*b.a23 + a.a42*b.a24 + a.a52*b.a25 + a.a62*b.a26;
c.a23 = a.a12*b.a31 + a.a22*b.a32 + a.a32*b.a33 + a.a42*b.a34 + a.a52*b.a35 + a.a62*b.a36;
c.a24 = a.a12*b.a41 + a.a22*b.a42 + a.a32*b.a43 + a.a42*b.a44 + a.a52*b.a45 + a.a62*b.a46;
c.a25 = a.a12*b.a51 + a.a22*b.a52 + a.a32*b.a53 + a.a42*b.a54 + a.a52*b.a55 + a.a62*b.a56;
c.a26 = a.a12*b.a61 + a.a22*b.a62 + a.a32*b.a63 + a.a42*b.a64 + a.a52*b.a65 + a.a62*b.a66;
c.a31 = a.a13*b.a11 + a.a23*b.a12 + a.a33*b.a13 + a.a43*b.a14 + a.a53*b.a15 + a.a63*b.a16;
c.a32 = a.a13*b.a21 + a.a23*b.a22 + a.a33*b.a23 + a.a43*b.a24 + a.a53*b.a25 + a.a63*b.a26;
c.a33 = a.a13*b.a31 + a.a23*b.a32 + a.a33*b.a33 + a.a43*b.a34 + a.a53*b.a35 + a.a63*b.a36;
c.a34 = a.a13*b.a41 + a.a23*b.a42 + a.a33*b.a43 + a.a43*b.a44 + a.a53*b.a45 + a.a63*b.a46;
c.a35 = a.a13*b.a51 + a.a23*b.a52 + a.a33*b.a53 + a.a43*b.a54 + a.a53*b.a55 + a.a63*b.a56;
c.a36 = a.a13*b.a61 + a.a23*b.a62 + a.a33*b.a63 + a.a43*b.a64 + a.a53*b.a65 + a.a63*b.a66;
c.a41 = a.a14*b.a11 + a.a24*b.a12 + a.a34*b.a13 + a.a44*b.a14 + a.a54*b.a15 + a.a64*b.a16;
c.a42 = a.a14*b.a21 + a.a24*b.a22 + a.a34*b.a23 + a.a44*b.a24 + a.a54*b.a25 + a.a64*b.a26;
c.a43 = a.a14*b.a31 + a.a24*b.a32 + a.a34*b.a33 + a.a44*b.a34 + a.a54*b.a35 + a.a64*b.a36;
c.a44 = a.a14*b.a41 + a.a24*b.a42 + a.a34*b.a43 + a.a44*b.a44 + a.a54*b.a45 + a.a64*b.a46;
c.a45 = a.a14*b.a51 + a.a24*b.a52 + a.a34*b.a53 + a.a44*b.a54 + a.a54*b.a55 + a.a64*b.a56;
c.a46 = a.a14*b.a61 + a.a24*b.a62 + a.a34*b.a63 + a.a44*b.a64 + a.a54*b.a65 + a.a64*b.a66;
c.a51 = a.a15*b.a11 + a.a25*b.a12 + a.a35*b.a13 + a.a45*b.a14 + a.a55*b.a15 + a.a65*b.a16;
c.a52 = a.a15*b.a21 + a.a25*b.a22 + a.a35*b.a23 + a.a45*b.a24 + a.a55*b.a25 + a.a65*b.a26;
c.a53 = a.a15*b.a31 + a.a25*b.a32 + a.a35*b.a33 + a.a45*b.a34 + a.a55*b.a35 + a.a65*b.a36;
c.a54 = a.a15*b.a41 + a.a25*b.a42 + a.a35*b.a43 + a.a45*b.a44 + a.a55*b.a45 + a.a65*b.a46;
c.a55 = a.a15*b.a51 + a.a25*b.a52 + a.a35*b.a53 + a.a45*b.a54 + a.a55*b.a55 + a.a65*b.a56;
c.a56 = a.a15*b.a61 + a.a25*b.a62 + a.a35*b.a63 + a.a45*b.a64 + a.a55*b.a65 + a.a65*b.a66;
c.a61 = a.a16*b.a11 + a.a26*b.a12 + a.a36*b.a13 + a.a46*b.a14 + a.a56*b.a15 + a.a66*b.a16;
c.a62 = a.a16*b.a21 + a.a26*b.a22 + a.a36*b.a23 + a.a46*b.a24 + a.a56*b.a25 + a.a66*b.a26;
c.a63 = a.a16*b.a31 + a.a26*b.a32 + a.a36*b.a33 + a.a46*b.a34 + a.a56*b.a35 + a.a66*b.a36;
c.a64 = a.a16*b.a41 + a.a26*b.a42 + a.a36*b.a43 + a.a46*b.a44 + a.a56*b.a45 + a.a66*b.a46;
c.a65 = a.a16*b.a51 + a.a26*b.a52 + a.a36*b.a53 + a.a46*b.a54 + a.a56*b.a55 + a.a66*b.a56;
c.a66 = a.a16*b.a61 + a.a26*b.a62 + a.a36*b.a63 + a.a46*b.a64 + a.a56*b.a65 + a.a66*b.a66;
}
/**
*
* Performs the following operation:
*
* c = α*aT * bT
* cij = α*∑k=1:n { aki * bjk}
*
*
* @param alpha Scaling factor.
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multTransAB( float alpha , FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 = alpha*(a.a11*b.a11 + a.a21*b.a12 + a.a31*b.a13 + a.a41*b.a14 + a.a51*b.a15 + a.a61*b.a16);
c.a12 = alpha*(a.a11*b.a21 + a.a21*b.a22 + a.a31*b.a23 + a.a41*b.a24 + a.a51*b.a25 + a.a61*b.a26);
c.a13 = alpha*(a.a11*b.a31 + a.a21*b.a32 + a.a31*b.a33 + a.a41*b.a34 + a.a51*b.a35 + a.a61*b.a36);
c.a14 = alpha*(a.a11*b.a41 + a.a21*b.a42 + a.a31*b.a43 + a.a41*b.a44 + a.a51*b.a45 + a.a61*b.a46);
c.a15 = alpha*(a.a11*b.a51 + a.a21*b.a52 + a.a31*b.a53 + a.a41*b.a54 + a.a51*b.a55 + a.a61*b.a56);
c.a16 = alpha*(a.a11*b.a61 + a.a21*b.a62 + a.a31*b.a63 + a.a41*b.a64 + a.a51*b.a65 + a.a61*b.a66);
c.a21 = alpha*(a.a12*b.a11 + a.a22*b.a12 + a.a32*b.a13 + a.a42*b.a14 + a.a52*b.a15 + a.a62*b.a16);
c.a22 = alpha*(a.a12*b.a21 + a.a22*b.a22 + a.a32*b.a23 + a.a42*b.a24 + a.a52*b.a25 + a.a62*b.a26);
c.a23 = alpha*(a.a12*b.a31 + a.a22*b.a32 + a.a32*b.a33 + a.a42*b.a34 + a.a52*b.a35 + a.a62*b.a36);
c.a24 = alpha*(a.a12*b.a41 + a.a22*b.a42 + a.a32*b.a43 + a.a42*b.a44 + a.a52*b.a45 + a.a62*b.a46);
c.a25 = alpha*(a.a12*b.a51 + a.a22*b.a52 + a.a32*b.a53 + a.a42*b.a54 + a.a52*b.a55 + a.a62*b.a56);
c.a26 = alpha*(a.a12*b.a61 + a.a22*b.a62 + a.a32*b.a63 + a.a42*b.a64 + a.a52*b.a65 + a.a62*b.a66);
c.a31 = alpha*(a.a13*b.a11 + a.a23*b.a12 + a.a33*b.a13 + a.a43*b.a14 + a.a53*b.a15 + a.a63*b.a16);
c.a32 = alpha*(a.a13*b.a21 + a.a23*b.a22 + a.a33*b.a23 + a.a43*b.a24 + a.a53*b.a25 + a.a63*b.a26);
c.a33 = alpha*(a.a13*b.a31 + a.a23*b.a32 + a.a33*b.a33 + a.a43*b.a34 + a.a53*b.a35 + a.a63*b.a36);
c.a34 = alpha*(a.a13*b.a41 + a.a23*b.a42 + a.a33*b.a43 + a.a43*b.a44 + a.a53*b.a45 + a.a63*b.a46);
c.a35 = alpha*(a.a13*b.a51 + a.a23*b.a52 + a.a33*b.a53 + a.a43*b.a54 + a.a53*b.a55 + a.a63*b.a56);
c.a36 = alpha*(a.a13*b.a61 + a.a23*b.a62 + a.a33*b.a63 + a.a43*b.a64 + a.a53*b.a65 + a.a63*b.a66);
c.a41 = alpha*(a.a14*b.a11 + a.a24*b.a12 + a.a34*b.a13 + a.a44*b.a14 + a.a54*b.a15 + a.a64*b.a16);
c.a42 = alpha*(a.a14*b.a21 + a.a24*b.a22 + a.a34*b.a23 + a.a44*b.a24 + a.a54*b.a25 + a.a64*b.a26);
c.a43 = alpha*(a.a14*b.a31 + a.a24*b.a32 + a.a34*b.a33 + a.a44*b.a34 + a.a54*b.a35 + a.a64*b.a36);
c.a44 = alpha*(a.a14*b.a41 + a.a24*b.a42 + a.a34*b.a43 + a.a44*b.a44 + a.a54*b.a45 + a.a64*b.a46);
c.a45 = alpha*(a.a14*b.a51 + a.a24*b.a52 + a.a34*b.a53 + a.a44*b.a54 + a.a54*b.a55 + a.a64*b.a56);
c.a46 = alpha*(a.a14*b.a61 + a.a24*b.a62 + a.a34*b.a63 + a.a44*b.a64 + a.a54*b.a65 + a.a64*b.a66);
c.a51 = alpha*(a.a15*b.a11 + a.a25*b.a12 + a.a35*b.a13 + a.a45*b.a14 + a.a55*b.a15 + a.a65*b.a16);
c.a52 = alpha*(a.a15*b.a21 + a.a25*b.a22 + a.a35*b.a23 + a.a45*b.a24 + a.a55*b.a25 + a.a65*b.a26);
c.a53 = alpha*(a.a15*b.a31 + a.a25*b.a32 + a.a35*b.a33 + a.a45*b.a34 + a.a55*b.a35 + a.a65*b.a36);
c.a54 = alpha*(a.a15*b.a41 + a.a25*b.a42 + a.a35*b.a43 + a.a45*b.a44 + a.a55*b.a45 + a.a65*b.a46);
c.a55 = alpha*(a.a15*b.a51 + a.a25*b.a52 + a.a35*b.a53 + a.a45*b.a54 + a.a55*b.a55 + a.a65*b.a56);
c.a56 = alpha*(a.a15*b.a61 + a.a25*b.a62 + a.a35*b.a63 + a.a45*b.a64 + a.a55*b.a65 + a.a65*b.a66);
c.a61 = alpha*(a.a16*b.a11 + a.a26*b.a12 + a.a36*b.a13 + a.a46*b.a14 + a.a56*b.a15 + a.a66*b.a16);
c.a62 = alpha*(a.a16*b.a21 + a.a26*b.a22 + a.a36*b.a23 + a.a46*b.a24 + a.a56*b.a25 + a.a66*b.a26);
c.a63 = alpha*(a.a16*b.a31 + a.a26*b.a32 + a.a36*b.a33 + a.a46*b.a34 + a.a56*b.a35 + a.a66*b.a36);
c.a64 = alpha*(a.a16*b.a41 + a.a26*b.a42 + a.a36*b.a43 + a.a46*b.a44 + a.a56*b.a45 + a.a66*b.a46);
c.a65 = alpha*(a.a16*b.a51 + a.a26*b.a52 + a.a36*b.a53 + a.a46*b.a54 + a.a56*b.a55 + a.a66*b.a56);
c.a66 = alpha*(a.a16*b.a61 + a.a26*b.a62 + a.a36*b.a63 + a.a46*b.a64 + a.a56*b.a65 + a.a66*b.a66);
}
/**
*
* Performs the following operation:
*
* c = a * bT
* cij = ∑k=1:n { aik * bjk}
*
*
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multTransB( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 = a.a11*b.a11 + a.a12*b.a12 + a.a13*b.a13 + a.a14*b.a14 + a.a15*b.a15 + a.a16*b.a16;
c.a12 = a.a11*b.a21 + a.a12*b.a22 + a.a13*b.a23 + a.a14*b.a24 + a.a15*b.a25 + a.a16*b.a26;
c.a13 = a.a11*b.a31 + a.a12*b.a32 + a.a13*b.a33 + a.a14*b.a34 + a.a15*b.a35 + a.a16*b.a36;
c.a14 = a.a11*b.a41 + a.a12*b.a42 + a.a13*b.a43 + a.a14*b.a44 + a.a15*b.a45 + a.a16*b.a46;
c.a15 = a.a11*b.a51 + a.a12*b.a52 + a.a13*b.a53 + a.a14*b.a54 + a.a15*b.a55 + a.a16*b.a56;
c.a16 = a.a11*b.a61 + a.a12*b.a62 + a.a13*b.a63 + a.a14*b.a64 + a.a15*b.a65 + a.a16*b.a66;
c.a21 = a.a21*b.a11 + a.a22*b.a12 + a.a23*b.a13 + a.a24*b.a14 + a.a25*b.a15 + a.a26*b.a16;
c.a22 = a.a21*b.a21 + a.a22*b.a22 + a.a23*b.a23 + a.a24*b.a24 + a.a25*b.a25 + a.a26*b.a26;
c.a23 = a.a21*b.a31 + a.a22*b.a32 + a.a23*b.a33 + a.a24*b.a34 + a.a25*b.a35 + a.a26*b.a36;
c.a24 = a.a21*b.a41 + a.a22*b.a42 + a.a23*b.a43 + a.a24*b.a44 + a.a25*b.a45 + a.a26*b.a46;
c.a25 = a.a21*b.a51 + a.a22*b.a52 + a.a23*b.a53 + a.a24*b.a54 + a.a25*b.a55 + a.a26*b.a56;
c.a26 = a.a21*b.a61 + a.a22*b.a62 + a.a23*b.a63 + a.a24*b.a64 + a.a25*b.a65 + a.a26*b.a66;
c.a31 = a.a31*b.a11 + a.a32*b.a12 + a.a33*b.a13 + a.a34*b.a14 + a.a35*b.a15 + a.a36*b.a16;
c.a32 = a.a31*b.a21 + a.a32*b.a22 + a.a33*b.a23 + a.a34*b.a24 + a.a35*b.a25 + a.a36*b.a26;
c.a33 = a.a31*b.a31 + a.a32*b.a32 + a.a33*b.a33 + a.a34*b.a34 + a.a35*b.a35 + a.a36*b.a36;
c.a34 = a.a31*b.a41 + a.a32*b.a42 + a.a33*b.a43 + a.a34*b.a44 + a.a35*b.a45 + a.a36*b.a46;
c.a35 = a.a31*b.a51 + a.a32*b.a52 + a.a33*b.a53 + a.a34*b.a54 + a.a35*b.a55 + a.a36*b.a56;
c.a36 = a.a31*b.a61 + a.a32*b.a62 + a.a33*b.a63 + a.a34*b.a64 + a.a35*b.a65 + a.a36*b.a66;
c.a41 = a.a41*b.a11 + a.a42*b.a12 + a.a43*b.a13 + a.a44*b.a14 + a.a45*b.a15 + a.a46*b.a16;
c.a42 = a.a41*b.a21 + a.a42*b.a22 + a.a43*b.a23 + a.a44*b.a24 + a.a45*b.a25 + a.a46*b.a26;
c.a43 = a.a41*b.a31 + a.a42*b.a32 + a.a43*b.a33 + a.a44*b.a34 + a.a45*b.a35 + a.a46*b.a36;
c.a44 = a.a41*b.a41 + a.a42*b.a42 + a.a43*b.a43 + a.a44*b.a44 + a.a45*b.a45 + a.a46*b.a46;
c.a45 = a.a41*b.a51 + a.a42*b.a52 + a.a43*b.a53 + a.a44*b.a54 + a.a45*b.a55 + a.a46*b.a56;
c.a46 = a.a41*b.a61 + a.a42*b.a62 + a.a43*b.a63 + a.a44*b.a64 + a.a45*b.a65 + a.a46*b.a66;
c.a51 = a.a51*b.a11 + a.a52*b.a12 + a.a53*b.a13 + a.a54*b.a14 + a.a55*b.a15 + a.a56*b.a16;
c.a52 = a.a51*b.a21 + a.a52*b.a22 + a.a53*b.a23 + a.a54*b.a24 + a.a55*b.a25 + a.a56*b.a26;
c.a53 = a.a51*b.a31 + a.a52*b.a32 + a.a53*b.a33 + a.a54*b.a34 + a.a55*b.a35 + a.a56*b.a36;
c.a54 = a.a51*b.a41 + a.a52*b.a42 + a.a53*b.a43 + a.a54*b.a44 + a.a55*b.a45 + a.a56*b.a46;
c.a55 = a.a51*b.a51 + a.a52*b.a52 + a.a53*b.a53 + a.a54*b.a54 + a.a55*b.a55 + a.a56*b.a56;
c.a56 = a.a51*b.a61 + a.a52*b.a62 + a.a53*b.a63 + a.a54*b.a64 + a.a55*b.a65 + a.a56*b.a66;
c.a61 = a.a61*b.a11 + a.a62*b.a12 + a.a63*b.a13 + a.a64*b.a14 + a.a65*b.a15 + a.a66*b.a16;
c.a62 = a.a61*b.a21 + a.a62*b.a22 + a.a63*b.a23 + a.a64*b.a24 + a.a65*b.a25 + a.a66*b.a26;
c.a63 = a.a61*b.a31 + a.a62*b.a32 + a.a63*b.a33 + a.a64*b.a34 + a.a65*b.a35 + a.a66*b.a36;
c.a64 = a.a61*b.a41 + a.a62*b.a42 + a.a63*b.a43 + a.a64*b.a44 + a.a65*b.a45 + a.a66*b.a46;
c.a65 = a.a61*b.a51 + a.a62*b.a52 + a.a63*b.a53 + a.a64*b.a54 + a.a65*b.a55 + a.a66*b.a56;
c.a66 = a.a61*b.a61 + a.a62*b.a62 + a.a63*b.a63 + a.a64*b.a64 + a.a65*b.a65 + a.a66*b.a66;
}
/**
*
* Performs the following operation:
*
* c = α * a * bT
* cij = α*∑k=1:n { aik * bjk}
*
*
* @param alpha Scaling factor.
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multTransB( float alpha , FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 = alpha*(a.a11*b.a11 + a.a12*b.a12 + a.a13*b.a13 + a.a14*b.a14 + a.a15*b.a15 + a.a16*b.a16);
c.a12 = alpha*(a.a11*b.a21 + a.a12*b.a22 + a.a13*b.a23 + a.a14*b.a24 + a.a15*b.a25 + a.a16*b.a26);
c.a13 = alpha*(a.a11*b.a31 + a.a12*b.a32 + a.a13*b.a33 + a.a14*b.a34 + a.a15*b.a35 + a.a16*b.a36);
c.a14 = alpha*(a.a11*b.a41 + a.a12*b.a42 + a.a13*b.a43 + a.a14*b.a44 + a.a15*b.a45 + a.a16*b.a46);
c.a15 = alpha*(a.a11*b.a51 + a.a12*b.a52 + a.a13*b.a53 + a.a14*b.a54 + a.a15*b.a55 + a.a16*b.a56);
c.a16 = alpha*(a.a11*b.a61 + a.a12*b.a62 + a.a13*b.a63 + a.a14*b.a64 + a.a15*b.a65 + a.a16*b.a66);
c.a21 = alpha*(a.a21*b.a11 + a.a22*b.a12 + a.a23*b.a13 + a.a24*b.a14 + a.a25*b.a15 + a.a26*b.a16);
c.a22 = alpha*(a.a21*b.a21 + a.a22*b.a22 + a.a23*b.a23 + a.a24*b.a24 + a.a25*b.a25 + a.a26*b.a26);
c.a23 = alpha*(a.a21*b.a31 + a.a22*b.a32 + a.a23*b.a33 + a.a24*b.a34 + a.a25*b.a35 + a.a26*b.a36);
c.a24 = alpha*(a.a21*b.a41 + a.a22*b.a42 + a.a23*b.a43 + a.a24*b.a44 + a.a25*b.a45 + a.a26*b.a46);
c.a25 = alpha*(a.a21*b.a51 + a.a22*b.a52 + a.a23*b.a53 + a.a24*b.a54 + a.a25*b.a55 + a.a26*b.a56);
c.a26 = alpha*(a.a21*b.a61 + a.a22*b.a62 + a.a23*b.a63 + a.a24*b.a64 + a.a25*b.a65 + a.a26*b.a66);
c.a31 = alpha*(a.a31*b.a11 + a.a32*b.a12 + a.a33*b.a13 + a.a34*b.a14 + a.a35*b.a15 + a.a36*b.a16);
c.a32 = alpha*(a.a31*b.a21 + a.a32*b.a22 + a.a33*b.a23 + a.a34*b.a24 + a.a35*b.a25 + a.a36*b.a26);
c.a33 = alpha*(a.a31*b.a31 + a.a32*b.a32 + a.a33*b.a33 + a.a34*b.a34 + a.a35*b.a35 + a.a36*b.a36);
c.a34 = alpha*(a.a31*b.a41 + a.a32*b.a42 + a.a33*b.a43 + a.a34*b.a44 + a.a35*b.a45 + a.a36*b.a46);
c.a35 = alpha*(a.a31*b.a51 + a.a32*b.a52 + a.a33*b.a53 + a.a34*b.a54 + a.a35*b.a55 + a.a36*b.a56);
c.a36 = alpha*(a.a31*b.a61 + a.a32*b.a62 + a.a33*b.a63 + a.a34*b.a64 + a.a35*b.a65 + a.a36*b.a66);
c.a41 = alpha*(a.a41*b.a11 + a.a42*b.a12 + a.a43*b.a13 + a.a44*b.a14 + a.a45*b.a15 + a.a46*b.a16);
c.a42 = alpha*(a.a41*b.a21 + a.a42*b.a22 + a.a43*b.a23 + a.a44*b.a24 + a.a45*b.a25 + a.a46*b.a26);
c.a43 = alpha*(a.a41*b.a31 + a.a42*b.a32 + a.a43*b.a33 + a.a44*b.a34 + a.a45*b.a35 + a.a46*b.a36);
c.a44 = alpha*(a.a41*b.a41 + a.a42*b.a42 + a.a43*b.a43 + a.a44*b.a44 + a.a45*b.a45 + a.a46*b.a46);
c.a45 = alpha*(a.a41*b.a51 + a.a42*b.a52 + a.a43*b.a53 + a.a44*b.a54 + a.a45*b.a55 + a.a46*b.a56);
c.a46 = alpha*(a.a41*b.a61 + a.a42*b.a62 + a.a43*b.a63 + a.a44*b.a64 + a.a45*b.a65 + a.a46*b.a66);
c.a51 = alpha*(a.a51*b.a11 + a.a52*b.a12 + a.a53*b.a13 + a.a54*b.a14 + a.a55*b.a15 + a.a56*b.a16);
c.a52 = alpha*(a.a51*b.a21 + a.a52*b.a22 + a.a53*b.a23 + a.a54*b.a24 + a.a55*b.a25 + a.a56*b.a26);
c.a53 = alpha*(a.a51*b.a31 + a.a52*b.a32 + a.a53*b.a33 + a.a54*b.a34 + a.a55*b.a35 + a.a56*b.a36);
c.a54 = alpha*(a.a51*b.a41 + a.a52*b.a42 + a.a53*b.a43 + a.a54*b.a44 + a.a55*b.a45 + a.a56*b.a46);
c.a55 = alpha*(a.a51*b.a51 + a.a52*b.a52 + a.a53*b.a53 + a.a54*b.a54 + a.a55*b.a55 + a.a56*b.a56);
c.a56 = alpha*(a.a51*b.a61 + a.a52*b.a62 + a.a53*b.a63 + a.a54*b.a64 + a.a55*b.a65 + a.a56*b.a66);
c.a61 = alpha*(a.a61*b.a11 + a.a62*b.a12 + a.a63*b.a13 + a.a64*b.a14 + a.a65*b.a15 + a.a66*b.a16);
c.a62 = alpha*(a.a61*b.a21 + a.a62*b.a22 + a.a63*b.a23 + a.a64*b.a24 + a.a65*b.a25 + a.a66*b.a26);
c.a63 = alpha*(a.a61*b.a31 + a.a62*b.a32 + a.a63*b.a33 + a.a64*b.a34 + a.a65*b.a35 + a.a66*b.a36);
c.a64 = alpha*(a.a61*b.a41 + a.a62*b.a42 + a.a63*b.a43 + a.a64*b.a44 + a.a65*b.a45 + a.a66*b.a46);
c.a65 = alpha*(a.a61*b.a51 + a.a62*b.a52 + a.a63*b.a53 + a.a64*b.a54 + a.a65*b.a55 + a.a66*b.a56);
c.a66 = alpha*(a.a61*b.a61 + a.a62*b.a62 + a.a63*b.a63 + a.a64*b.a64 + a.a65*b.a65 + a.a66*b.a66);
}
/**
* Performs the following operation:
*
* c += a * b
*
* cij += ∑k=1:n { aik * bkj}
*
*
* @param a The left matrix in the multiplication operation. Not modified.
* @param b The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multAdd( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 += a.a11*b.a11 + a.a12*b.a21 + a.a13*b.a31 + a.a14*b.a41 + a.a15*b.a51 + a.a16*b.a61;
c.a12 += a.a11*b.a12 + a.a12*b.a22 + a.a13*b.a32 + a.a14*b.a42 + a.a15*b.a52 + a.a16*b.a62;
c.a13 += a.a11*b.a13 + a.a12*b.a23 + a.a13*b.a33 + a.a14*b.a43 + a.a15*b.a53 + a.a16*b.a63;
c.a14 += a.a11*b.a14 + a.a12*b.a24 + a.a13*b.a34 + a.a14*b.a44 + a.a15*b.a54 + a.a16*b.a64;
c.a15 += a.a11*b.a15 + a.a12*b.a25 + a.a13*b.a35 + a.a14*b.a45 + a.a15*b.a55 + a.a16*b.a65;
c.a16 += a.a11*b.a16 + a.a12*b.a26 + a.a13*b.a36 + a.a14*b.a46 + a.a15*b.a56 + a.a16*b.a66;
c.a21 += a.a21*b.a11 + a.a22*b.a21 + a.a23*b.a31 + a.a24*b.a41 + a.a25*b.a51 + a.a26*b.a61;
c.a22 += a.a21*b.a12 + a.a22*b.a22 + a.a23*b.a32 + a.a24*b.a42 + a.a25*b.a52 + a.a26*b.a62;
c.a23 += a.a21*b.a13 + a.a22*b.a23 + a.a23*b.a33 + a.a24*b.a43 + a.a25*b.a53 + a.a26*b.a63;
c.a24 += a.a21*b.a14 + a.a22*b.a24 + a.a23*b.a34 + a.a24*b.a44 + a.a25*b.a54 + a.a26*b.a64;
c.a25 += a.a21*b.a15 + a.a22*b.a25 + a.a23*b.a35 + a.a24*b.a45 + a.a25*b.a55 + a.a26*b.a65;
c.a26 += a.a21*b.a16 + a.a22*b.a26 + a.a23*b.a36 + a.a24*b.a46 + a.a25*b.a56 + a.a26*b.a66;
c.a31 += a.a31*b.a11 + a.a32*b.a21 + a.a33*b.a31 + a.a34*b.a41 + a.a35*b.a51 + a.a36*b.a61;
c.a32 += a.a31*b.a12 + a.a32*b.a22 + a.a33*b.a32 + a.a34*b.a42 + a.a35*b.a52 + a.a36*b.a62;
c.a33 += a.a31*b.a13 + a.a32*b.a23 + a.a33*b.a33 + a.a34*b.a43 + a.a35*b.a53 + a.a36*b.a63;
c.a34 += a.a31*b.a14 + a.a32*b.a24 + a.a33*b.a34 + a.a34*b.a44 + a.a35*b.a54 + a.a36*b.a64;
c.a35 += a.a31*b.a15 + a.a32*b.a25 + a.a33*b.a35 + a.a34*b.a45 + a.a35*b.a55 + a.a36*b.a65;
c.a36 += a.a31*b.a16 + a.a32*b.a26 + a.a33*b.a36 + a.a34*b.a46 + a.a35*b.a56 + a.a36*b.a66;
c.a41 += a.a41*b.a11 + a.a42*b.a21 + a.a43*b.a31 + a.a44*b.a41 + a.a45*b.a51 + a.a46*b.a61;
c.a42 += a.a41*b.a12 + a.a42*b.a22 + a.a43*b.a32 + a.a44*b.a42 + a.a45*b.a52 + a.a46*b.a62;
c.a43 += a.a41*b.a13 + a.a42*b.a23 + a.a43*b.a33 + a.a44*b.a43 + a.a45*b.a53 + a.a46*b.a63;
c.a44 += a.a41*b.a14 + a.a42*b.a24 + a.a43*b.a34 + a.a44*b.a44 + a.a45*b.a54 + a.a46*b.a64;
c.a45 += a.a41*b.a15 + a.a42*b.a25 + a.a43*b.a35 + a.a44*b.a45 + a.a45*b.a55 + a.a46*b.a65;
c.a46 += a.a41*b.a16 + a.a42*b.a26 + a.a43*b.a36 + a.a44*b.a46 + a.a45*b.a56 + a.a46*b.a66;
c.a51 += a.a51*b.a11 + a.a52*b.a21 + a.a53*b.a31 + a.a54*b.a41 + a.a55*b.a51 + a.a56*b.a61;
c.a52 += a.a51*b.a12 + a.a52*b.a22 + a.a53*b.a32 + a.a54*b.a42 + a.a55*b.a52 + a.a56*b.a62;
c.a53 += a.a51*b.a13 + a.a52*b.a23 + a.a53*b.a33 + a.a54*b.a43 + a.a55*b.a53 + a.a56*b.a63;
c.a54 += a.a51*b.a14 + a.a52*b.a24 + a.a53*b.a34 + a.a54*b.a44 + a.a55*b.a54 + a.a56*b.a64;
c.a55 += a.a51*b.a15 + a.a52*b.a25 + a.a53*b.a35 + a.a54*b.a45 + a.a55*b.a55 + a.a56*b.a65;
c.a56 += a.a51*b.a16 + a.a52*b.a26 + a.a53*b.a36 + a.a54*b.a46 + a.a55*b.a56 + a.a56*b.a66;
c.a61 += a.a61*b.a11 + a.a62*b.a21 + a.a63*b.a31 + a.a64*b.a41 + a.a65*b.a51 + a.a66*b.a61;
c.a62 += a.a61*b.a12 + a.a62*b.a22 + a.a63*b.a32 + a.a64*b.a42 + a.a65*b.a52 + a.a66*b.a62;
c.a63 += a.a61*b.a13 + a.a62*b.a23 + a.a63*b.a33 + a.a64*b.a43 + a.a65*b.a53 + a.a66*b.a63;
c.a64 += a.a61*b.a14 + a.a62*b.a24 + a.a63*b.a34 + a.a64*b.a44 + a.a65*b.a54 + a.a66*b.a64;
c.a65 += a.a61*b.a15 + a.a62*b.a25 + a.a63*b.a35 + a.a64*b.a45 + a.a65*b.a55 + a.a66*b.a65;
c.a66 += a.a61*b.a16 + a.a62*b.a26 + a.a63*b.a36 + a.a64*b.a46 + a.a65*b.a56 + a.a66*b.a66;
}
/**
* Performs the following operation:
*
* c += α * a * b
*
* cij += α ∑k=1:n { aik * bkj}
*
*
* @param alpha Scaling factor.
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multAdd( float alpha , FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 += alpha*(a.a11*b.a11 + a.a12*b.a21 + a.a13*b.a31 + a.a14*b.a41 + a.a15*b.a51 + a.a16*b.a61);
c.a12 += alpha*(a.a11*b.a12 + a.a12*b.a22 + a.a13*b.a32 + a.a14*b.a42 + a.a15*b.a52 + a.a16*b.a62);
c.a13 += alpha*(a.a11*b.a13 + a.a12*b.a23 + a.a13*b.a33 + a.a14*b.a43 + a.a15*b.a53 + a.a16*b.a63);
c.a14 += alpha*(a.a11*b.a14 + a.a12*b.a24 + a.a13*b.a34 + a.a14*b.a44 + a.a15*b.a54 + a.a16*b.a64);
c.a15 += alpha*(a.a11*b.a15 + a.a12*b.a25 + a.a13*b.a35 + a.a14*b.a45 + a.a15*b.a55 + a.a16*b.a65);
c.a16 += alpha*(a.a11*b.a16 + a.a12*b.a26 + a.a13*b.a36 + a.a14*b.a46 + a.a15*b.a56 + a.a16*b.a66);
c.a21 += alpha*(a.a21*b.a11 + a.a22*b.a21 + a.a23*b.a31 + a.a24*b.a41 + a.a25*b.a51 + a.a26*b.a61);
c.a22 += alpha*(a.a21*b.a12 + a.a22*b.a22 + a.a23*b.a32 + a.a24*b.a42 + a.a25*b.a52 + a.a26*b.a62);
c.a23 += alpha*(a.a21*b.a13 + a.a22*b.a23 + a.a23*b.a33 + a.a24*b.a43 + a.a25*b.a53 + a.a26*b.a63);
c.a24 += alpha*(a.a21*b.a14 + a.a22*b.a24 + a.a23*b.a34 + a.a24*b.a44 + a.a25*b.a54 + a.a26*b.a64);
c.a25 += alpha*(a.a21*b.a15 + a.a22*b.a25 + a.a23*b.a35 + a.a24*b.a45 + a.a25*b.a55 + a.a26*b.a65);
c.a26 += alpha*(a.a21*b.a16 + a.a22*b.a26 + a.a23*b.a36 + a.a24*b.a46 + a.a25*b.a56 + a.a26*b.a66);
c.a31 += alpha*(a.a31*b.a11 + a.a32*b.a21 + a.a33*b.a31 + a.a34*b.a41 + a.a35*b.a51 + a.a36*b.a61);
c.a32 += alpha*(a.a31*b.a12 + a.a32*b.a22 + a.a33*b.a32 + a.a34*b.a42 + a.a35*b.a52 + a.a36*b.a62);
c.a33 += alpha*(a.a31*b.a13 + a.a32*b.a23 + a.a33*b.a33 + a.a34*b.a43 + a.a35*b.a53 + a.a36*b.a63);
c.a34 += alpha*(a.a31*b.a14 + a.a32*b.a24 + a.a33*b.a34 + a.a34*b.a44 + a.a35*b.a54 + a.a36*b.a64);
c.a35 += alpha*(a.a31*b.a15 + a.a32*b.a25 + a.a33*b.a35 + a.a34*b.a45 + a.a35*b.a55 + a.a36*b.a65);
c.a36 += alpha*(a.a31*b.a16 + a.a32*b.a26 + a.a33*b.a36 + a.a34*b.a46 + a.a35*b.a56 + a.a36*b.a66);
c.a41 += alpha*(a.a41*b.a11 + a.a42*b.a21 + a.a43*b.a31 + a.a44*b.a41 + a.a45*b.a51 + a.a46*b.a61);
c.a42 += alpha*(a.a41*b.a12 + a.a42*b.a22 + a.a43*b.a32 + a.a44*b.a42 + a.a45*b.a52 + a.a46*b.a62);
c.a43 += alpha*(a.a41*b.a13 + a.a42*b.a23 + a.a43*b.a33 + a.a44*b.a43 + a.a45*b.a53 + a.a46*b.a63);
c.a44 += alpha*(a.a41*b.a14 + a.a42*b.a24 + a.a43*b.a34 + a.a44*b.a44 + a.a45*b.a54 + a.a46*b.a64);
c.a45 += alpha*(a.a41*b.a15 + a.a42*b.a25 + a.a43*b.a35 + a.a44*b.a45 + a.a45*b.a55 + a.a46*b.a65);
c.a46 += alpha*(a.a41*b.a16 + a.a42*b.a26 + a.a43*b.a36 + a.a44*b.a46 + a.a45*b.a56 + a.a46*b.a66);
c.a51 += alpha*(a.a51*b.a11 + a.a52*b.a21 + a.a53*b.a31 + a.a54*b.a41 + a.a55*b.a51 + a.a56*b.a61);
c.a52 += alpha*(a.a51*b.a12 + a.a52*b.a22 + a.a53*b.a32 + a.a54*b.a42 + a.a55*b.a52 + a.a56*b.a62);
c.a53 += alpha*(a.a51*b.a13 + a.a52*b.a23 + a.a53*b.a33 + a.a54*b.a43 + a.a55*b.a53 + a.a56*b.a63);
c.a54 += alpha*(a.a51*b.a14 + a.a52*b.a24 + a.a53*b.a34 + a.a54*b.a44 + a.a55*b.a54 + a.a56*b.a64);
c.a55 += alpha*(a.a51*b.a15 + a.a52*b.a25 + a.a53*b.a35 + a.a54*b.a45 + a.a55*b.a55 + a.a56*b.a65);
c.a56 += alpha*(a.a51*b.a16 + a.a52*b.a26 + a.a53*b.a36 + a.a54*b.a46 + a.a55*b.a56 + a.a56*b.a66);
c.a61 += alpha*(a.a61*b.a11 + a.a62*b.a21 + a.a63*b.a31 + a.a64*b.a41 + a.a65*b.a51 + a.a66*b.a61);
c.a62 += alpha*(a.a61*b.a12 + a.a62*b.a22 + a.a63*b.a32 + a.a64*b.a42 + a.a65*b.a52 + a.a66*b.a62);
c.a63 += alpha*(a.a61*b.a13 + a.a62*b.a23 + a.a63*b.a33 + a.a64*b.a43 + a.a65*b.a53 + a.a66*b.a63);
c.a64 += alpha*(a.a61*b.a14 + a.a62*b.a24 + a.a63*b.a34 + a.a64*b.a44 + a.a65*b.a54 + a.a66*b.a64);
c.a65 += alpha*(a.a61*b.a15 + a.a62*b.a25 + a.a63*b.a35 + a.a64*b.a45 + a.a65*b.a55 + a.a66*b.a65);
c.a66 += alpha*(a.a61*b.a16 + a.a62*b.a26 + a.a63*b.a36 + a.a64*b.a46 + a.a65*b.a56 + a.a66*b.a66);
}
/**
* Performs the following operation:
*
* c += aT * b
*
* cij += ∑k=1:n { aki * bkj}
*
*
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multAddTransA( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 += a.a11*b.a11 + a.a21*b.a21 + a.a31*b.a31 + a.a41*b.a41 + a.a51*b.a51 + a.a61*b.a61;
c.a12 += a.a11*b.a12 + a.a21*b.a22 + a.a31*b.a32 + a.a41*b.a42 + a.a51*b.a52 + a.a61*b.a62;
c.a13 += a.a11*b.a13 + a.a21*b.a23 + a.a31*b.a33 + a.a41*b.a43 + a.a51*b.a53 + a.a61*b.a63;
c.a14 += a.a11*b.a14 + a.a21*b.a24 + a.a31*b.a34 + a.a41*b.a44 + a.a51*b.a54 + a.a61*b.a64;
c.a15 += a.a11*b.a15 + a.a21*b.a25 + a.a31*b.a35 + a.a41*b.a45 + a.a51*b.a55 + a.a61*b.a65;
c.a16 += a.a11*b.a16 + a.a21*b.a26 + a.a31*b.a36 + a.a41*b.a46 + a.a51*b.a56 + a.a61*b.a66;
c.a21 += a.a12*b.a11 + a.a22*b.a21 + a.a32*b.a31 + a.a42*b.a41 + a.a52*b.a51 + a.a62*b.a61;
c.a22 += a.a12*b.a12 + a.a22*b.a22 + a.a32*b.a32 + a.a42*b.a42 + a.a52*b.a52 + a.a62*b.a62;
c.a23 += a.a12*b.a13 + a.a22*b.a23 + a.a32*b.a33 + a.a42*b.a43 + a.a52*b.a53 + a.a62*b.a63;
c.a24 += a.a12*b.a14 + a.a22*b.a24 + a.a32*b.a34 + a.a42*b.a44 + a.a52*b.a54 + a.a62*b.a64;
c.a25 += a.a12*b.a15 + a.a22*b.a25 + a.a32*b.a35 + a.a42*b.a45 + a.a52*b.a55 + a.a62*b.a65;
c.a26 += a.a12*b.a16 + a.a22*b.a26 + a.a32*b.a36 + a.a42*b.a46 + a.a52*b.a56 + a.a62*b.a66;
c.a31 += a.a13*b.a11 + a.a23*b.a21 + a.a33*b.a31 + a.a43*b.a41 + a.a53*b.a51 + a.a63*b.a61;
c.a32 += a.a13*b.a12 + a.a23*b.a22 + a.a33*b.a32 + a.a43*b.a42 + a.a53*b.a52 + a.a63*b.a62;
c.a33 += a.a13*b.a13 + a.a23*b.a23 + a.a33*b.a33 + a.a43*b.a43 + a.a53*b.a53 + a.a63*b.a63;
c.a34 += a.a13*b.a14 + a.a23*b.a24 + a.a33*b.a34 + a.a43*b.a44 + a.a53*b.a54 + a.a63*b.a64;
c.a35 += a.a13*b.a15 + a.a23*b.a25 + a.a33*b.a35 + a.a43*b.a45 + a.a53*b.a55 + a.a63*b.a65;
c.a36 += a.a13*b.a16 + a.a23*b.a26 + a.a33*b.a36 + a.a43*b.a46 + a.a53*b.a56 + a.a63*b.a66;
c.a41 += a.a14*b.a11 + a.a24*b.a21 + a.a34*b.a31 + a.a44*b.a41 + a.a54*b.a51 + a.a64*b.a61;
c.a42 += a.a14*b.a12 + a.a24*b.a22 + a.a34*b.a32 + a.a44*b.a42 + a.a54*b.a52 + a.a64*b.a62;
c.a43 += a.a14*b.a13 + a.a24*b.a23 + a.a34*b.a33 + a.a44*b.a43 + a.a54*b.a53 + a.a64*b.a63;
c.a44 += a.a14*b.a14 + a.a24*b.a24 + a.a34*b.a34 + a.a44*b.a44 + a.a54*b.a54 + a.a64*b.a64;
c.a45 += a.a14*b.a15 + a.a24*b.a25 + a.a34*b.a35 + a.a44*b.a45 + a.a54*b.a55 + a.a64*b.a65;
c.a46 += a.a14*b.a16 + a.a24*b.a26 + a.a34*b.a36 + a.a44*b.a46 + a.a54*b.a56 + a.a64*b.a66;
c.a51 += a.a15*b.a11 + a.a25*b.a21 + a.a35*b.a31 + a.a45*b.a41 + a.a55*b.a51 + a.a65*b.a61;
c.a52 += a.a15*b.a12 + a.a25*b.a22 + a.a35*b.a32 + a.a45*b.a42 + a.a55*b.a52 + a.a65*b.a62;
c.a53 += a.a15*b.a13 + a.a25*b.a23 + a.a35*b.a33 + a.a45*b.a43 + a.a55*b.a53 + a.a65*b.a63;
c.a54 += a.a15*b.a14 + a.a25*b.a24 + a.a35*b.a34 + a.a45*b.a44 + a.a55*b.a54 + a.a65*b.a64;
c.a55 += a.a15*b.a15 + a.a25*b.a25 + a.a35*b.a35 + a.a45*b.a45 + a.a55*b.a55 + a.a65*b.a65;
c.a56 += a.a15*b.a16 + a.a25*b.a26 + a.a35*b.a36 + a.a45*b.a46 + a.a55*b.a56 + a.a65*b.a66;
c.a61 += a.a16*b.a11 + a.a26*b.a21 + a.a36*b.a31 + a.a46*b.a41 + a.a56*b.a51 + a.a66*b.a61;
c.a62 += a.a16*b.a12 + a.a26*b.a22 + a.a36*b.a32 + a.a46*b.a42 + a.a56*b.a52 + a.a66*b.a62;
c.a63 += a.a16*b.a13 + a.a26*b.a23 + a.a36*b.a33 + a.a46*b.a43 + a.a56*b.a53 + a.a66*b.a63;
c.a64 += a.a16*b.a14 + a.a26*b.a24 + a.a36*b.a34 + a.a46*b.a44 + a.a56*b.a54 + a.a66*b.a64;
c.a65 += a.a16*b.a15 + a.a26*b.a25 + a.a36*b.a35 + a.a46*b.a45 + a.a56*b.a55 + a.a66*b.a65;
c.a66 += a.a16*b.a16 + a.a26*b.a26 + a.a36*b.a36 + a.a46*b.a46 + a.a56*b.a56 + a.a66*b.a66;
}
/**
* Performs the following operation:
*
* c += α * aT * b
*
* cij += α * ∑k=1:n { aki * bkj}
*
*
* @param alpha Scaling factor.
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multAddTransA( float alpha , FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 += alpha*(a.a11*b.a11 + a.a21*b.a21 + a.a31*b.a31 + a.a41*b.a41 + a.a51*b.a51 + a.a61*b.a61);
c.a12 += alpha*(a.a11*b.a12 + a.a21*b.a22 + a.a31*b.a32 + a.a41*b.a42 + a.a51*b.a52 + a.a61*b.a62);
c.a13 += alpha*(a.a11*b.a13 + a.a21*b.a23 + a.a31*b.a33 + a.a41*b.a43 + a.a51*b.a53 + a.a61*b.a63);
c.a14 += alpha*(a.a11*b.a14 + a.a21*b.a24 + a.a31*b.a34 + a.a41*b.a44 + a.a51*b.a54 + a.a61*b.a64);
c.a15 += alpha*(a.a11*b.a15 + a.a21*b.a25 + a.a31*b.a35 + a.a41*b.a45 + a.a51*b.a55 + a.a61*b.a65);
c.a16 += alpha*(a.a11*b.a16 + a.a21*b.a26 + a.a31*b.a36 + a.a41*b.a46 + a.a51*b.a56 + a.a61*b.a66);
c.a21 += alpha*(a.a12*b.a11 + a.a22*b.a21 + a.a32*b.a31 + a.a42*b.a41 + a.a52*b.a51 + a.a62*b.a61);
c.a22 += alpha*(a.a12*b.a12 + a.a22*b.a22 + a.a32*b.a32 + a.a42*b.a42 + a.a52*b.a52 + a.a62*b.a62);
c.a23 += alpha*(a.a12*b.a13 + a.a22*b.a23 + a.a32*b.a33 + a.a42*b.a43 + a.a52*b.a53 + a.a62*b.a63);
c.a24 += alpha*(a.a12*b.a14 + a.a22*b.a24 + a.a32*b.a34 + a.a42*b.a44 + a.a52*b.a54 + a.a62*b.a64);
c.a25 += alpha*(a.a12*b.a15 + a.a22*b.a25 + a.a32*b.a35 + a.a42*b.a45 + a.a52*b.a55 + a.a62*b.a65);
c.a26 += alpha*(a.a12*b.a16 + a.a22*b.a26 + a.a32*b.a36 + a.a42*b.a46 + a.a52*b.a56 + a.a62*b.a66);
c.a31 += alpha*(a.a13*b.a11 + a.a23*b.a21 + a.a33*b.a31 + a.a43*b.a41 + a.a53*b.a51 + a.a63*b.a61);
c.a32 += alpha*(a.a13*b.a12 + a.a23*b.a22 + a.a33*b.a32 + a.a43*b.a42 + a.a53*b.a52 + a.a63*b.a62);
c.a33 += alpha*(a.a13*b.a13 + a.a23*b.a23 + a.a33*b.a33 + a.a43*b.a43 + a.a53*b.a53 + a.a63*b.a63);
c.a34 += alpha*(a.a13*b.a14 + a.a23*b.a24 + a.a33*b.a34 + a.a43*b.a44 + a.a53*b.a54 + a.a63*b.a64);
c.a35 += alpha*(a.a13*b.a15 + a.a23*b.a25 + a.a33*b.a35 + a.a43*b.a45 + a.a53*b.a55 + a.a63*b.a65);
c.a36 += alpha*(a.a13*b.a16 + a.a23*b.a26 + a.a33*b.a36 + a.a43*b.a46 + a.a53*b.a56 + a.a63*b.a66);
c.a41 += alpha*(a.a14*b.a11 + a.a24*b.a21 + a.a34*b.a31 + a.a44*b.a41 + a.a54*b.a51 + a.a64*b.a61);
c.a42 += alpha*(a.a14*b.a12 + a.a24*b.a22 + a.a34*b.a32 + a.a44*b.a42 + a.a54*b.a52 + a.a64*b.a62);
c.a43 += alpha*(a.a14*b.a13 + a.a24*b.a23 + a.a34*b.a33 + a.a44*b.a43 + a.a54*b.a53 + a.a64*b.a63);
c.a44 += alpha*(a.a14*b.a14 + a.a24*b.a24 + a.a34*b.a34 + a.a44*b.a44 + a.a54*b.a54 + a.a64*b.a64);
c.a45 += alpha*(a.a14*b.a15 + a.a24*b.a25 + a.a34*b.a35 + a.a44*b.a45 + a.a54*b.a55 + a.a64*b.a65);
c.a46 += alpha*(a.a14*b.a16 + a.a24*b.a26 + a.a34*b.a36 + a.a44*b.a46 + a.a54*b.a56 + a.a64*b.a66);
c.a51 += alpha*(a.a15*b.a11 + a.a25*b.a21 + a.a35*b.a31 + a.a45*b.a41 + a.a55*b.a51 + a.a65*b.a61);
c.a52 += alpha*(a.a15*b.a12 + a.a25*b.a22 + a.a35*b.a32 + a.a45*b.a42 + a.a55*b.a52 + a.a65*b.a62);
c.a53 += alpha*(a.a15*b.a13 + a.a25*b.a23 + a.a35*b.a33 + a.a45*b.a43 + a.a55*b.a53 + a.a65*b.a63);
c.a54 += alpha*(a.a15*b.a14 + a.a25*b.a24 + a.a35*b.a34 + a.a45*b.a44 + a.a55*b.a54 + a.a65*b.a64);
c.a55 += alpha*(a.a15*b.a15 + a.a25*b.a25 + a.a35*b.a35 + a.a45*b.a45 + a.a55*b.a55 + a.a65*b.a65);
c.a56 += alpha*(a.a15*b.a16 + a.a25*b.a26 + a.a35*b.a36 + a.a45*b.a46 + a.a55*b.a56 + a.a65*b.a66);
c.a61 += alpha*(a.a16*b.a11 + a.a26*b.a21 + a.a36*b.a31 + a.a46*b.a41 + a.a56*b.a51 + a.a66*b.a61);
c.a62 += alpha*(a.a16*b.a12 + a.a26*b.a22 + a.a36*b.a32 + a.a46*b.a42 + a.a56*b.a52 + a.a66*b.a62);
c.a63 += alpha*(a.a16*b.a13 + a.a26*b.a23 + a.a36*b.a33 + a.a46*b.a43 + a.a56*b.a53 + a.a66*b.a63);
c.a64 += alpha*(a.a16*b.a14 + a.a26*b.a24 + a.a36*b.a34 + a.a46*b.a44 + a.a56*b.a54 + a.a66*b.a64);
c.a65 += alpha*(a.a16*b.a15 + a.a26*b.a25 + a.a36*b.a35 + a.a46*b.a45 + a.a56*b.a55 + a.a66*b.a65);
c.a66 += alpha*(a.a16*b.a16 + a.a26*b.a26 + a.a36*b.a36 + a.a46*b.a46 + a.a56*b.a56 + a.a66*b.a66);
}
/**
*
* Performs the following operation:
*
* c += aT * bT
* cij += ∑k=1:n { aki * bjk}
*
*
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multAddTransAB( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 += a.a11*b.a11 + a.a21*b.a12 + a.a31*b.a13 + a.a41*b.a14 + a.a51*b.a15 + a.a61*b.a16;
c.a12 += a.a11*b.a21 + a.a21*b.a22 + a.a31*b.a23 + a.a41*b.a24 + a.a51*b.a25 + a.a61*b.a26;
c.a13 += a.a11*b.a31 + a.a21*b.a32 + a.a31*b.a33 + a.a41*b.a34 + a.a51*b.a35 + a.a61*b.a36;
c.a14 += a.a11*b.a41 + a.a21*b.a42 + a.a31*b.a43 + a.a41*b.a44 + a.a51*b.a45 + a.a61*b.a46;
c.a15 += a.a11*b.a51 + a.a21*b.a52 + a.a31*b.a53 + a.a41*b.a54 + a.a51*b.a55 + a.a61*b.a56;
c.a16 += a.a11*b.a61 + a.a21*b.a62 + a.a31*b.a63 + a.a41*b.a64 + a.a51*b.a65 + a.a61*b.a66;
c.a21 += a.a12*b.a11 + a.a22*b.a12 + a.a32*b.a13 + a.a42*b.a14 + a.a52*b.a15 + a.a62*b.a16;
c.a22 += a.a12*b.a21 + a.a22*b.a22 + a.a32*b.a23 + a.a42*b.a24 + a.a52*b.a25 + a.a62*b.a26;
c.a23 += a.a12*b.a31 + a.a22*b.a32 + a.a32*b.a33 + a.a42*b.a34 + a.a52*b.a35 + a.a62*b.a36;
c.a24 += a.a12*b.a41 + a.a22*b.a42 + a.a32*b.a43 + a.a42*b.a44 + a.a52*b.a45 + a.a62*b.a46;
c.a25 += a.a12*b.a51 + a.a22*b.a52 + a.a32*b.a53 + a.a42*b.a54 + a.a52*b.a55 + a.a62*b.a56;
c.a26 += a.a12*b.a61 + a.a22*b.a62 + a.a32*b.a63 + a.a42*b.a64 + a.a52*b.a65 + a.a62*b.a66;
c.a31 += a.a13*b.a11 + a.a23*b.a12 + a.a33*b.a13 + a.a43*b.a14 + a.a53*b.a15 + a.a63*b.a16;
c.a32 += a.a13*b.a21 + a.a23*b.a22 + a.a33*b.a23 + a.a43*b.a24 + a.a53*b.a25 + a.a63*b.a26;
c.a33 += a.a13*b.a31 + a.a23*b.a32 + a.a33*b.a33 + a.a43*b.a34 + a.a53*b.a35 + a.a63*b.a36;
c.a34 += a.a13*b.a41 + a.a23*b.a42 + a.a33*b.a43 + a.a43*b.a44 + a.a53*b.a45 + a.a63*b.a46;
c.a35 += a.a13*b.a51 + a.a23*b.a52 + a.a33*b.a53 + a.a43*b.a54 + a.a53*b.a55 + a.a63*b.a56;
c.a36 += a.a13*b.a61 + a.a23*b.a62 + a.a33*b.a63 + a.a43*b.a64 + a.a53*b.a65 + a.a63*b.a66;
c.a41 += a.a14*b.a11 + a.a24*b.a12 + a.a34*b.a13 + a.a44*b.a14 + a.a54*b.a15 + a.a64*b.a16;
c.a42 += a.a14*b.a21 + a.a24*b.a22 + a.a34*b.a23 + a.a44*b.a24 + a.a54*b.a25 + a.a64*b.a26;
c.a43 += a.a14*b.a31 + a.a24*b.a32 + a.a34*b.a33 + a.a44*b.a34 + a.a54*b.a35 + a.a64*b.a36;
c.a44 += a.a14*b.a41 + a.a24*b.a42 + a.a34*b.a43 + a.a44*b.a44 + a.a54*b.a45 + a.a64*b.a46;
c.a45 += a.a14*b.a51 + a.a24*b.a52 + a.a34*b.a53 + a.a44*b.a54 + a.a54*b.a55 + a.a64*b.a56;
c.a46 += a.a14*b.a61 + a.a24*b.a62 + a.a34*b.a63 + a.a44*b.a64 + a.a54*b.a65 + a.a64*b.a66;
c.a51 += a.a15*b.a11 + a.a25*b.a12 + a.a35*b.a13 + a.a45*b.a14 + a.a55*b.a15 + a.a65*b.a16;
c.a52 += a.a15*b.a21 + a.a25*b.a22 + a.a35*b.a23 + a.a45*b.a24 + a.a55*b.a25 + a.a65*b.a26;
c.a53 += a.a15*b.a31 + a.a25*b.a32 + a.a35*b.a33 + a.a45*b.a34 + a.a55*b.a35 + a.a65*b.a36;
c.a54 += a.a15*b.a41 + a.a25*b.a42 + a.a35*b.a43 + a.a45*b.a44 + a.a55*b.a45 + a.a65*b.a46;
c.a55 += a.a15*b.a51 + a.a25*b.a52 + a.a35*b.a53 + a.a45*b.a54 + a.a55*b.a55 + a.a65*b.a56;
c.a56 += a.a15*b.a61 + a.a25*b.a62 + a.a35*b.a63 + a.a45*b.a64 + a.a55*b.a65 + a.a65*b.a66;
c.a61 += a.a16*b.a11 + a.a26*b.a12 + a.a36*b.a13 + a.a46*b.a14 + a.a56*b.a15 + a.a66*b.a16;
c.a62 += a.a16*b.a21 + a.a26*b.a22 + a.a36*b.a23 + a.a46*b.a24 + a.a56*b.a25 + a.a66*b.a26;
c.a63 += a.a16*b.a31 + a.a26*b.a32 + a.a36*b.a33 + a.a46*b.a34 + a.a56*b.a35 + a.a66*b.a36;
c.a64 += a.a16*b.a41 + a.a26*b.a42 + a.a36*b.a43 + a.a46*b.a44 + a.a56*b.a45 + a.a66*b.a46;
c.a65 += a.a16*b.a51 + a.a26*b.a52 + a.a36*b.a53 + a.a46*b.a54 + a.a56*b.a55 + a.a66*b.a56;
c.a66 += a.a16*b.a61 + a.a26*b.a62 + a.a36*b.a63 + a.a46*b.a64 + a.a56*b.a65 + a.a66*b.a66;
}
/**
*
* Performs the following operation:
*
* c += α*aT * bT
* cij += α*∑k=1:n { aki * bjk}
*
*
* @param alpha Scaling factor.
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multAddTransAB( float alpha , FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 += alpha*(a.a11*b.a11 + a.a21*b.a12 + a.a31*b.a13 + a.a41*b.a14 + a.a51*b.a15 + a.a61*b.a16);
c.a12 += alpha*(a.a11*b.a21 + a.a21*b.a22 + a.a31*b.a23 + a.a41*b.a24 + a.a51*b.a25 + a.a61*b.a26);
c.a13 += alpha*(a.a11*b.a31 + a.a21*b.a32 + a.a31*b.a33 + a.a41*b.a34 + a.a51*b.a35 + a.a61*b.a36);
c.a14 += alpha*(a.a11*b.a41 + a.a21*b.a42 + a.a31*b.a43 + a.a41*b.a44 + a.a51*b.a45 + a.a61*b.a46);
c.a15 += alpha*(a.a11*b.a51 + a.a21*b.a52 + a.a31*b.a53 + a.a41*b.a54 + a.a51*b.a55 + a.a61*b.a56);
c.a16 += alpha*(a.a11*b.a61 + a.a21*b.a62 + a.a31*b.a63 + a.a41*b.a64 + a.a51*b.a65 + a.a61*b.a66);
c.a21 += alpha*(a.a12*b.a11 + a.a22*b.a12 + a.a32*b.a13 + a.a42*b.a14 + a.a52*b.a15 + a.a62*b.a16);
c.a22 += alpha*(a.a12*b.a21 + a.a22*b.a22 + a.a32*b.a23 + a.a42*b.a24 + a.a52*b.a25 + a.a62*b.a26);
c.a23 += alpha*(a.a12*b.a31 + a.a22*b.a32 + a.a32*b.a33 + a.a42*b.a34 + a.a52*b.a35 + a.a62*b.a36);
c.a24 += alpha*(a.a12*b.a41 + a.a22*b.a42 + a.a32*b.a43 + a.a42*b.a44 + a.a52*b.a45 + a.a62*b.a46);
c.a25 += alpha*(a.a12*b.a51 + a.a22*b.a52 + a.a32*b.a53 + a.a42*b.a54 + a.a52*b.a55 + a.a62*b.a56);
c.a26 += alpha*(a.a12*b.a61 + a.a22*b.a62 + a.a32*b.a63 + a.a42*b.a64 + a.a52*b.a65 + a.a62*b.a66);
c.a31 += alpha*(a.a13*b.a11 + a.a23*b.a12 + a.a33*b.a13 + a.a43*b.a14 + a.a53*b.a15 + a.a63*b.a16);
c.a32 += alpha*(a.a13*b.a21 + a.a23*b.a22 + a.a33*b.a23 + a.a43*b.a24 + a.a53*b.a25 + a.a63*b.a26);
c.a33 += alpha*(a.a13*b.a31 + a.a23*b.a32 + a.a33*b.a33 + a.a43*b.a34 + a.a53*b.a35 + a.a63*b.a36);
c.a34 += alpha*(a.a13*b.a41 + a.a23*b.a42 + a.a33*b.a43 + a.a43*b.a44 + a.a53*b.a45 + a.a63*b.a46);
c.a35 += alpha*(a.a13*b.a51 + a.a23*b.a52 + a.a33*b.a53 + a.a43*b.a54 + a.a53*b.a55 + a.a63*b.a56);
c.a36 += alpha*(a.a13*b.a61 + a.a23*b.a62 + a.a33*b.a63 + a.a43*b.a64 + a.a53*b.a65 + a.a63*b.a66);
c.a41 += alpha*(a.a14*b.a11 + a.a24*b.a12 + a.a34*b.a13 + a.a44*b.a14 + a.a54*b.a15 + a.a64*b.a16);
c.a42 += alpha*(a.a14*b.a21 + a.a24*b.a22 + a.a34*b.a23 + a.a44*b.a24 + a.a54*b.a25 + a.a64*b.a26);
c.a43 += alpha*(a.a14*b.a31 + a.a24*b.a32 + a.a34*b.a33 + a.a44*b.a34 + a.a54*b.a35 + a.a64*b.a36);
c.a44 += alpha*(a.a14*b.a41 + a.a24*b.a42 + a.a34*b.a43 + a.a44*b.a44 + a.a54*b.a45 + a.a64*b.a46);
c.a45 += alpha*(a.a14*b.a51 + a.a24*b.a52 + a.a34*b.a53 + a.a44*b.a54 + a.a54*b.a55 + a.a64*b.a56);
c.a46 += alpha*(a.a14*b.a61 + a.a24*b.a62 + a.a34*b.a63 + a.a44*b.a64 + a.a54*b.a65 + a.a64*b.a66);
c.a51 += alpha*(a.a15*b.a11 + a.a25*b.a12 + a.a35*b.a13 + a.a45*b.a14 + a.a55*b.a15 + a.a65*b.a16);
c.a52 += alpha*(a.a15*b.a21 + a.a25*b.a22 + a.a35*b.a23 + a.a45*b.a24 + a.a55*b.a25 + a.a65*b.a26);
c.a53 += alpha*(a.a15*b.a31 + a.a25*b.a32 + a.a35*b.a33 + a.a45*b.a34 + a.a55*b.a35 + a.a65*b.a36);
c.a54 += alpha*(a.a15*b.a41 + a.a25*b.a42 + a.a35*b.a43 + a.a45*b.a44 + a.a55*b.a45 + a.a65*b.a46);
c.a55 += alpha*(a.a15*b.a51 + a.a25*b.a52 + a.a35*b.a53 + a.a45*b.a54 + a.a55*b.a55 + a.a65*b.a56);
c.a56 += alpha*(a.a15*b.a61 + a.a25*b.a62 + a.a35*b.a63 + a.a45*b.a64 + a.a55*b.a65 + a.a65*b.a66);
c.a61 += alpha*(a.a16*b.a11 + a.a26*b.a12 + a.a36*b.a13 + a.a46*b.a14 + a.a56*b.a15 + a.a66*b.a16);
c.a62 += alpha*(a.a16*b.a21 + a.a26*b.a22 + a.a36*b.a23 + a.a46*b.a24 + a.a56*b.a25 + a.a66*b.a26);
c.a63 += alpha*(a.a16*b.a31 + a.a26*b.a32 + a.a36*b.a33 + a.a46*b.a34 + a.a56*b.a35 + a.a66*b.a36);
c.a64 += alpha*(a.a16*b.a41 + a.a26*b.a42 + a.a36*b.a43 + a.a46*b.a44 + a.a56*b.a45 + a.a66*b.a46);
c.a65 += alpha*(a.a16*b.a51 + a.a26*b.a52 + a.a36*b.a53 + a.a46*b.a54 + a.a56*b.a55 + a.a66*b.a56);
c.a66 += alpha*(a.a16*b.a61 + a.a26*b.a62 + a.a36*b.a63 + a.a46*b.a64 + a.a56*b.a65 + a.a66*b.a66);
}
/**
*
* Performs the following operation:
*
* c += a * bT
* cij += ∑k=1:n { aik * bjk}
*
*
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multAddTransB( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 += a.a11*b.a11 + a.a12*b.a12 + a.a13*b.a13 + a.a14*b.a14 + a.a15*b.a15 + a.a16*b.a16;
c.a12 += a.a11*b.a21 + a.a12*b.a22 + a.a13*b.a23 + a.a14*b.a24 + a.a15*b.a25 + a.a16*b.a26;
c.a13 += a.a11*b.a31 + a.a12*b.a32 + a.a13*b.a33 + a.a14*b.a34 + a.a15*b.a35 + a.a16*b.a36;
c.a14 += a.a11*b.a41 + a.a12*b.a42 + a.a13*b.a43 + a.a14*b.a44 + a.a15*b.a45 + a.a16*b.a46;
c.a15 += a.a11*b.a51 + a.a12*b.a52 + a.a13*b.a53 + a.a14*b.a54 + a.a15*b.a55 + a.a16*b.a56;
c.a16 += a.a11*b.a61 + a.a12*b.a62 + a.a13*b.a63 + a.a14*b.a64 + a.a15*b.a65 + a.a16*b.a66;
c.a21 += a.a21*b.a11 + a.a22*b.a12 + a.a23*b.a13 + a.a24*b.a14 + a.a25*b.a15 + a.a26*b.a16;
c.a22 += a.a21*b.a21 + a.a22*b.a22 + a.a23*b.a23 + a.a24*b.a24 + a.a25*b.a25 + a.a26*b.a26;
c.a23 += a.a21*b.a31 + a.a22*b.a32 + a.a23*b.a33 + a.a24*b.a34 + a.a25*b.a35 + a.a26*b.a36;
c.a24 += a.a21*b.a41 + a.a22*b.a42 + a.a23*b.a43 + a.a24*b.a44 + a.a25*b.a45 + a.a26*b.a46;
c.a25 += a.a21*b.a51 + a.a22*b.a52 + a.a23*b.a53 + a.a24*b.a54 + a.a25*b.a55 + a.a26*b.a56;
c.a26 += a.a21*b.a61 + a.a22*b.a62 + a.a23*b.a63 + a.a24*b.a64 + a.a25*b.a65 + a.a26*b.a66;
c.a31 += a.a31*b.a11 + a.a32*b.a12 + a.a33*b.a13 + a.a34*b.a14 + a.a35*b.a15 + a.a36*b.a16;
c.a32 += a.a31*b.a21 + a.a32*b.a22 + a.a33*b.a23 + a.a34*b.a24 + a.a35*b.a25 + a.a36*b.a26;
c.a33 += a.a31*b.a31 + a.a32*b.a32 + a.a33*b.a33 + a.a34*b.a34 + a.a35*b.a35 + a.a36*b.a36;
c.a34 += a.a31*b.a41 + a.a32*b.a42 + a.a33*b.a43 + a.a34*b.a44 + a.a35*b.a45 + a.a36*b.a46;
c.a35 += a.a31*b.a51 + a.a32*b.a52 + a.a33*b.a53 + a.a34*b.a54 + a.a35*b.a55 + a.a36*b.a56;
c.a36 += a.a31*b.a61 + a.a32*b.a62 + a.a33*b.a63 + a.a34*b.a64 + a.a35*b.a65 + a.a36*b.a66;
c.a41 += a.a41*b.a11 + a.a42*b.a12 + a.a43*b.a13 + a.a44*b.a14 + a.a45*b.a15 + a.a46*b.a16;
c.a42 += a.a41*b.a21 + a.a42*b.a22 + a.a43*b.a23 + a.a44*b.a24 + a.a45*b.a25 + a.a46*b.a26;
c.a43 += a.a41*b.a31 + a.a42*b.a32 + a.a43*b.a33 + a.a44*b.a34 + a.a45*b.a35 + a.a46*b.a36;
c.a44 += a.a41*b.a41 + a.a42*b.a42 + a.a43*b.a43 + a.a44*b.a44 + a.a45*b.a45 + a.a46*b.a46;
c.a45 += a.a41*b.a51 + a.a42*b.a52 + a.a43*b.a53 + a.a44*b.a54 + a.a45*b.a55 + a.a46*b.a56;
c.a46 += a.a41*b.a61 + a.a42*b.a62 + a.a43*b.a63 + a.a44*b.a64 + a.a45*b.a65 + a.a46*b.a66;
c.a51 += a.a51*b.a11 + a.a52*b.a12 + a.a53*b.a13 + a.a54*b.a14 + a.a55*b.a15 + a.a56*b.a16;
c.a52 += a.a51*b.a21 + a.a52*b.a22 + a.a53*b.a23 + a.a54*b.a24 + a.a55*b.a25 + a.a56*b.a26;
c.a53 += a.a51*b.a31 + a.a52*b.a32 + a.a53*b.a33 + a.a54*b.a34 + a.a55*b.a35 + a.a56*b.a36;
c.a54 += a.a51*b.a41 + a.a52*b.a42 + a.a53*b.a43 + a.a54*b.a44 + a.a55*b.a45 + a.a56*b.a46;
c.a55 += a.a51*b.a51 + a.a52*b.a52 + a.a53*b.a53 + a.a54*b.a54 + a.a55*b.a55 + a.a56*b.a56;
c.a56 += a.a51*b.a61 + a.a52*b.a62 + a.a53*b.a63 + a.a54*b.a64 + a.a55*b.a65 + a.a56*b.a66;
c.a61 += a.a61*b.a11 + a.a62*b.a12 + a.a63*b.a13 + a.a64*b.a14 + a.a65*b.a15 + a.a66*b.a16;
c.a62 += a.a61*b.a21 + a.a62*b.a22 + a.a63*b.a23 + a.a64*b.a24 + a.a65*b.a25 + a.a66*b.a26;
c.a63 += a.a61*b.a31 + a.a62*b.a32 + a.a63*b.a33 + a.a64*b.a34 + a.a65*b.a35 + a.a66*b.a36;
c.a64 += a.a61*b.a41 + a.a62*b.a42 + a.a63*b.a43 + a.a64*b.a44 + a.a65*b.a45 + a.a66*b.a46;
c.a65 += a.a61*b.a51 + a.a62*b.a52 + a.a63*b.a53 + a.a64*b.a54 + a.a65*b.a55 + a.a66*b.a56;
c.a66 += a.a61*b.a61 + a.a62*b.a62 + a.a63*b.a63 + a.a64*b.a64 + a.a65*b.a65 + a.a66*b.a66;
}
/**
*
* Performs the following operation:
*
* c += α * a * bT
* cij += α*∑k=1:n { aik * bjk}
*
*
* @param alpha Scaling factor.
* @param a (Input) The left matrix in the multiplication operation. Not modified.
* @param b (Input) The right matrix in the multiplication operation. Not modified.
* @param c (Output) Where the results of the operation are stored. Modified.
*/
public static void multAddTransB( float alpha , FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c) {
UtilEjml.checkSameInstance(a,c);
UtilEjml.checkSameInstance(b,c);
c.a11 += alpha*(a.a11*b.a11 + a.a12*b.a12 + a.a13*b.a13 + a.a14*b.a14 + a.a15*b.a15 + a.a16*b.a16);
c.a12 += alpha*(a.a11*b.a21 + a.a12*b.a22 + a.a13*b.a23 + a.a14*b.a24 + a.a15*b.a25 + a.a16*b.a26);
c.a13 += alpha*(a.a11*b.a31 + a.a12*b.a32 + a.a13*b.a33 + a.a14*b.a34 + a.a15*b.a35 + a.a16*b.a36);
c.a14 += alpha*(a.a11*b.a41 + a.a12*b.a42 + a.a13*b.a43 + a.a14*b.a44 + a.a15*b.a45 + a.a16*b.a46);
c.a15 += alpha*(a.a11*b.a51 + a.a12*b.a52 + a.a13*b.a53 + a.a14*b.a54 + a.a15*b.a55 + a.a16*b.a56);
c.a16 += alpha*(a.a11*b.a61 + a.a12*b.a62 + a.a13*b.a63 + a.a14*b.a64 + a.a15*b.a65 + a.a16*b.a66);
c.a21 += alpha*(a.a21*b.a11 + a.a22*b.a12 + a.a23*b.a13 + a.a24*b.a14 + a.a25*b.a15 + a.a26*b.a16);
c.a22 += alpha*(a.a21*b.a21 + a.a22*b.a22 + a.a23*b.a23 + a.a24*b.a24 + a.a25*b.a25 + a.a26*b.a26);
c.a23 += alpha*(a.a21*b.a31 + a.a22*b.a32 + a.a23*b.a33 + a.a24*b.a34 + a.a25*b.a35 + a.a26*b.a36);
c.a24 += alpha*(a.a21*b.a41 + a.a22*b.a42 + a.a23*b.a43 + a.a24*b.a44 + a.a25*b.a45 + a.a26*b.a46);
c.a25 += alpha*(a.a21*b.a51 + a.a22*b.a52 + a.a23*b.a53 + a.a24*b.a54 + a.a25*b.a55 + a.a26*b.a56);
c.a26 += alpha*(a.a21*b.a61 + a.a22*b.a62 + a.a23*b.a63 + a.a24*b.a64 + a.a25*b.a65 + a.a26*b.a66);
c.a31 += alpha*(a.a31*b.a11 + a.a32*b.a12 + a.a33*b.a13 + a.a34*b.a14 + a.a35*b.a15 + a.a36*b.a16);
c.a32 += alpha*(a.a31*b.a21 + a.a32*b.a22 + a.a33*b.a23 + a.a34*b.a24 + a.a35*b.a25 + a.a36*b.a26);
c.a33 += alpha*(a.a31*b.a31 + a.a32*b.a32 + a.a33*b.a33 + a.a34*b.a34 + a.a35*b.a35 + a.a36*b.a36);
c.a34 += alpha*(a.a31*b.a41 + a.a32*b.a42 + a.a33*b.a43 + a.a34*b.a44 + a.a35*b.a45 + a.a36*b.a46);
c.a35 += alpha*(a.a31*b.a51 + a.a32*b.a52 + a.a33*b.a53 + a.a34*b.a54 + a.a35*b.a55 + a.a36*b.a56);
c.a36 += alpha*(a.a31*b.a61 + a.a32*b.a62 + a.a33*b.a63 + a.a34*b.a64 + a.a35*b.a65 + a.a36*b.a66);
c.a41 += alpha*(a.a41*b.a11 + a.a42*b.a12 + a.a43*b.a13 + a.a44*b.a14 + a.a45*b.a15 + a.a46*b.a16);
c.a42 += alpha*(a.a41*b.a21 + a.a42*b.a22 + a.a43*b.a23 + a.a44*b.a24 + a.a45*b.a25 + a.a46*b.a26);
c.a43 += alpha*(a.a41*b.a31 + a.a42*b.a32 + a.a43*b.a33 + a.a44*b.a34 + a.a45*b.a35 + a.a46*b.a36);
c.a44 += alpha*(a.a41*b.a41 + a.a42*b.a42 + a.a43*b.a43 + a.a44*b.a44 + a.a45*b.a45 + a.a46*b.a46);
c.a45 += alpha*(a.a41*b.a51 + a.a42*b.a52 + a.a43*b.a53 + a.a44*b.a54 + a.a45*b.a55 + a.a46*b.a56);
c.a46 += alpha*(a.a41*b.a61 + a.a42*b.a62 + a.a43*b.a63 + a.a44*b.a64 + a.a45*b.a65 + a.a46*b.a66);
c.a51 += alpha*(a.a51*b.a11 + a.a52*b.a12 + a.a53*b.a13 + a.a54*b.a14 + a.a55*b.a15 + a.a56*b.a16);
c.a52 += alpha*(a.a51*b.a21 + a.a52*b.a22 + a.a53*b.a23 + a.a54*b.a24 + a.a55*b.a25 + a.a56*b.a26);
c.a53 += alpha*(a.a51*b.a31 + a.a52*b.a32 + a.a53*b.a33 + a.a54*b.a34 + a.a55*b.a35 + a.a56*b.a36);
c.a54 += alpha*(a.a51*b.a41 + a.a52*b.a42 + a.a53*b.a43 + a.a54*b.a44 + a.a55*b.a45 + a.a56*b.a46);
c.a55 += alpha*(a.a51*b.a51 + a.a52*b.a52 + a.a53*b.a53 + a.a54*b.a54 + a.a55*b.a55 + a.a56*b.a56);
c.a56 += alpha*(a.a51*b.a61 + a.a52*b.a62 + a.a53*b.a63 + a.a54*b.a64 + a.a55*b.a65 + a.a56*b.a66);
c.a61 += alpha*(a.a61*b.a11 + a.a62*b.a12 + a.a63*b.a13 + a.a64*b.a14 + a.a65*b.a15 + a.a66*b.a16);
c.a62 += alpha*(a.a61*b.a21 + a.a62*b.a22 + a.a63*b.a23 + a.a64*b.a24 + a.a65*b.a25 + a.a66*b.a26);
c.a63 += alpha*(a.a61*b.a31 + a.a62*b.a32 + a.a63*b.a33 + a.a64*b.a34 + a.a65*b.a35 + a.a66*b.a36);
c.a64 += alpha*(a.a61*b.a41 + a.a62*b.a42 + a.a63*b.a43 + a.a64*b.a44 + a.a65*b.a45 + a.a66*b.a46);
c.a65 += alpha*(a.a61*b.a51 + a.a62*b.a52 + a.a63*b.a53 + a.a64*b.a54 + a.a65*b.a55 + a.a66*b.a56);
c.a66 += alpha*(a.a61*b.a61 + a.a62*b.a62 + a.a63*b.a63 + a.a64*b.a64 + a.a65*b.a65 + a.a66*b.a66);
}
/**
* C = αA + βu*vT
*
* @param alpha scale factor applied to A
* @param A matrix
* @param beta scale factor applies to outer product
* @param u vector
* @param v vector
* @param C Storage for solution. Can be same instance as A.
*/
public static void multAddOuter( float alpha , FMatrix6x6 A , float beta , FMatrix6 u , FMatrix6 v , FMatrix6x6 C ) {
C.a11 = alpha*A.a11 + beta*u.a1*v.a1;
C.a12 = alpha*A.a12 + beta*u.a1*v.a2;
C.a13 = alpha*A.a13 + beta*u.a1*v.a3;
C.a14 = alpha*A.a14 + beta*u.a1*v.a4;
C.a15 = alpha*A.a15 + beta*u.a1*v.a5;
C.a16 = alpha*A.a16 + beta*u.a1*v.a6;
C.a21 = alpha*A.a21 + beta*u.a2*v.a1;
C.a22 = alpha*A.a22 + beta*u.a2*v.a2;
C.a23 = alpha*A.a23 + beta*u.a2*v.a3;
C.a24 = alpha*A.a24 + beta*u.a2*v.a4;
C.a25 = alpha*A.a25 + beta*u.a2*v.a5;
C.a26 = alpha*A.a26 + beta*u.a2*v.a6;
C.a31 = alpha*A.a31 + beta*u.a3*v.a1;
C.a32 = alpha*A.a32 + beta*u.a3*v.a2;
C.a33 = alpha*A.a33 + beta*u.a3*v.a3;
C.a34 = alpha*A.a34 + beta*u.a3*v.a4;
C.a35 = alpha*A.a35 + beta*u.a3*v.a5;
C.a36 = alpha*A.a36 + beta*u.a3*v.a6;
C.a41 = alpha*A.a41 + beta*u.a4*v.a1;
C.a42 = alpha*A.a42 + beta*u.a4*v.a2;
C.a43 = alpha*A.a43 + beta*u.a4*v.a3;
C.a44 = alpha*A.a44 + beta*u.a4*v.a4;
C.a45 = alpha*A.a45 + beta*u.a4*v.a5;
C.a46 = alpha*A.a46 + beta*u.a4*v.a6;
C.a51 = alpha*A.a51 + beta*u.a5*v.a1;
C.a52 = alpha*A.a52 + beta*u.a5*v.a2;
C.a53 = alpha*A.a53 + beta*u.a5*v.a3;
C.a54 = alpha*A.a54 + beta*u.a5*v.a4;
C.a55 = alpha*A.a55 + beta*u.a5*v.a5;
C.a56 = alpha*A.a56 + beta*u.a5*v.a6;
C.a61 = alpha*A.a61 + beta*u.a6*v.a1;
C.a62 = alpha*A.a62 + beta*u.a6*v.a2;
C.a63 = alpha*A.a63 + beta*u.a6*v.a3;
C.a64 = alpha*A.a64 + beta*u.a6*v.a4;
C.a65 = alpha*A.a65 + beta*u.a6*v.a5;
C.a66 = alpha*A.a66 + beta*u.a6*v.a6;
}
/**
* Performs matrix to vector multiplication:
*
* c = a * b
*
* ci = ∑k=1:n { aik * bk}
*
*
* @param a The left matrix in the multiplication operation. Not modified.
* @param b The right vector in the multiplication operation. Not modified.
* @param c Where the results of the operation are stored. Modified.
*/
public static void mult( FMatrix6x6 a , FMatrix6 b , FMatrix6 c) {
c.a1 = a.a11*b.a1 + a.a12*b.a2 + a.a13*b.a3 + a.a14*b.a4 + a.a15*b.a5 + a.a16*b.a6;
c.a2 = a.a21*b.a1 + a.a22*b.a2 + a.a23*b.a3 + a.a24*b.a4 + a.a25*b.a5 + a.a26*b.a6;
c.a3 = a.a31*b.a1 + a.a32*b.a2 + a.a33*b.a3 + a.a34*b.a4 + a.a35*b.a5 + a.a36*b.a6;
c.a4 = a.a41*b.a1 + a.a42*b.a2 + a.a43*b.a3 + a.a44*b.a4 + a.a45*b.a5 + a.a46*b.a6;
c.a5 = a.a51*b.a1 + a.a52*b.a2 + a.a53*b.a3 + a.a54*b.a4 + a.a55*b.a5 + a.a56*b.a6;
c.a6 = a.a61*b.a1 + a.a62*b.a2 + a.a63*b.a3 + a.a64*b.a4 + a.a65*b.a5 + a.a66*b.a6;
}
/**
* Performs vector to matrix multiplication:
*
* c = a * b
*
* cj = ∑k=1:n { bk * akj }
*
*
* @param a The left vector in the multiplication operation. Not modified.
* @param b The right matrix in the multiplication operation. Not modified.
* @param c Where the results of the operation are stored. Modified.
*/
public static void mult( FMatrix6 a , FMatrix6x6 b , FMatrix6 c) {
c.a1 = a.a1*b.a11 + a.a2*b.a21 + a.a3*b.a31 + a.a4*b.a41 + a.a5*b.a51 + a.a6*b.a61;
c.a2 = a.a1*b.a12 + a.a2*b.a22 + a.a3*b.a32 + a.a4*b.a42 + a.a5*b.a52 + a.a6*b.a62;
c.a3 = a.a1*b.a13 + a.a2*b.a23 + a.a3*b.a33 + a.a4*b.a43 + a.a5*b.a53 + a.a6*b.a63;
c.a4 = a.a1*b.a14 + a.a2*b.a24 + a.a3*b.a34 + a.a4*b.a44 + a.a5*b.a54 + a.a6*b.a64;
c.a5 = a.a1*b.a15 + a.a2*b.a25 + a.a3*b.a35 + a.a4*b.a45 + a.a5*b.a55 + a.a6*b.a65;
c.a6 = a.a1*b.a16 + a.a2*b.a26 + a.a3*b.a36 + a.a4*b.a46 + a.a5*b.a56 + a.a6*b.a66;
}
/**
* Performs the vector dot product:
*
* c = a * b
*
* c ≥ ∑k=1:n { bk * ak }
*
*
* @param a The left vector in the multiplication operation. Not modified.
* @param b The right matrix in the multiplication operation. Not modified.
* @return The dot product
*/
public static float dot( FMatrix6 a , FMatrix6 b ) {
return a.a1*b.a1 + a.a2*b.a2 + a.a3*b.a3 + a.a4*b.a4 + a.a5*b.a5 + a.a6*b.a6;
}
/**
* Sets all the diagonal elements equal to one and everything else equal to zero.
* If this is a square matrix then it will be an identity matrix.
*
* @param a A matrix.
*/
public static void setIdentity( FMatrix6x6 a ) {
a.a11 = 1; a.a21 = 0; a.a31 = 0; a.a41 = 0; a.a51 = 0; a.a61 = 0;
a.a12 = 0; a.a22 = 1; a.a32 = 0; a.a42 = 0; a.a52 = 0; a.a62 = 0;
a.a13 = 0; a.a23 = 0; a.a33 = 1; a.a43 = 0; a.a53 = 0; a.a63 = 0;
a.a14 = 0; a.a24 = 0; a.a34 = 0; a.a44 = 1; a.a54 = 0; a.a64 = 0;
a.a15 = 0; a.a25 = 0; a.a35 = 0; a.a45 = 0; a.a55 = 1; a.a65 = 0;
a.a16 = 0; a.a26 = 0; a.a36 = 0; a.a46 = 0; a.a56 = 0; a.a66 = 1;
}
/**
* Performs a lower Cholesky decomposition of matrix 'A' and stores result in A.
*
* @param A (Input) SPD Matrix. (Output) lower cholesky.
* @return true if it was successful or false if it failed. Not always reliable.
*/
public static boolean cholL( FMatrix6x6 A ) {
A.a11 = (float)Math.sqrt(A.a11);
A.a12 = 0;
A.a13 = 0;
A.a14 = 0;
A.a15 = 0;
A.a16 = 0;
A.a21 = (A.a21)/A.a11;
A.a22 = (float)Math.sqrt(A.a22-A.a21*A.a21);
A.a23 = 0;
A.a24 = 0;
A.a25 = 0;
A.a26 = 0;
A.a31 = (A.a31)/A.a11;
A.a32 = (A.a32-A.a31*A.a21)/A.a22;
A.a33 = (float)Math.sqrt(A.a33-A.a31*A.a31-A.a32*A.a32);
A.a34 = 0;
A.a35 = 0;
A.a36 = 0;
A.a41 = (A.a41)/A.a11;
A.a42 = (A.a42-A.a41*A.a21)/A.a22;
A.a43 = (A.a43-A.a41*A.a31-A.a42*A.a32)/A.a33;
A.a44 = (float)Math.sqrt(A.a44-A.a41*A.a41-A.a42*A.a42-A.a43*A.a43);
A.a45 = 0;
A.a46 = 0;
A.a51 = (A.a51)/A.a11;
A.a52 = (A.a52-A.a51*A.a21)/A.a22;
A.a53 = (A.a53-A.a51*A.a31-A.a52*A.a32)/A.a33;
A.a54 = (A.a54-A.a51*A.a41-A.a52*A.a42-A.a53*A.a43)/A.a44;
A.a55 = (float)Math.sqrt(A.a55-A.a51*A.a51-A.a52*A.a52-A.a53*A.a53-A.a54*A.a54);
A.a56 = 0;
A.a61 = (A.a61)/A.a11;
A.a62 = (A.a62-A.a61*A.a21)/A.a22;
A.a63 = (A.a63-A.a61*A.a31-A.a62*A.a32)/A.a33;
A.a64 = (A.a64-A.a61*A.a41-A.a62*A.a42-A.a63*A.a43)/A.a44;
A.a65 = (A.a65-A.a61*A.a51-A.a62*A.a52-A.a63*A.a53-A.a64*A.a54)/A.a55;
A.a66 = (float)Math.sqrt(A.a66-A.a61*A.a61-A.a62*A.a62-A.a63*A.a63-A.a64*A.a64-A.a65*A.a65);
return !UtilEjml.isUncountable(A.a66);
}
/**
* Performs an upper Cholesky decomposition of matrix 'A' and stores result in A.
*
* @param A (Input) SPD Matrix. (Output) upper cholesky.
* @return true if it was successful or false if it failed. Not always reliable.
*/
public static boolean cholU( FMatrix6x6 A ) {
A.a11 = (float)Math.sqrt(A.a11);
A.a21 = 0;
A.a31 = 0;
A.a41 = 0;
A.a51 = 0;
A.a61 = 0;
A.a12 = (A.a12)/A.a11;
A.a22 = (float)Math.sqrt(A.a22-A.a12*A.a12);
A.a32 = 0;
A.a42 = 0;
A.a52 = 0;
A.a62 = 0;
A.a13 = (A.a13)/A.a11;
A.a23 = (A.a23-A.a12*A.a13)/A.a22;
A.a33 = (float)Math.sqrt(A.a33-A.a13*A.a13-A.a23*A.a23);
A.a43 = 0;
A.a53 = 0;
A.a63 = 0;
A.a14 = (A.a14)/A.a11;
A.a24 = (A.a24-A.a12*A.a14)/A.a22;
A.a34 = (A.a34-A.a13*A.a14-A.a23*A.a24)/A.a33;
A.a44 = (float)Math.sqrt(A.a44-A.a14*A.a14-A.a24*A.a24-A.a34*A.a34);
A.a54 = 0;
A.a64 = 0;
A.a15 = (A.a15)/A.a11;
A.a25 = (A.a25-A.a12*A.a15)/A.a22;
A.a35 = (A.a35-A.a13*A.a15-A.a23*A.a25)/A.a33;
A.a45 = (A.a45-A.a14*A.a15-A.a24*A.a25-A.a34*A.a35)/A.a44;
A.a55 = (float)Math.sqrt(A.a55-A.a15*A.a15-A.a25*A.a25-A.a35*A.a35-A.a45*A.a45);
A.a65 = 0;
A.a16 = (A.a16)/A.a11;
A.a26 = (A.a26-A.a12*A.a16)/A.a22;
A.a36 = (A.a36-A.a13*A.a16-A.a23*A.a26)/A.a33;
A.a46 = (A.a46-A.a14*A.a16-A.a24*A.a26-A.a34*A.a36)/A.a44;
A.a56 = (A.a56-A.a15*A.a16-A.a25*A.a26-A.a35*A.a36-A.a45*A.a46)/A.a55;
A.a66 = (float)Math.sqrt(A.a66-A.a16*A.a16-A.a26*A.a26-A.a36*A.a36-A.a46*A.a46-A.a56*A.a56);
return !UtilEjml.isUncountable(A.a66);
}
/**
*
* This computes the trace of the matrix:
*
* trace = ∑i=1:n { aii }
*
*
* The trace is only defined for square matrices.
*
*
* @param a A square matrix. Not modified.
*/
public static float trace( FMatrix6x6 a ) {
return a.a11 + a.a22 + a.a33 + a.a44 + a.a55 + a.a66;
}
/**
*
* Extracts all diagonal elements from 'input' and places them inside the 'out' vector. Elements
* are in sequential order.
*
*
*
* @param input Matrix. Not modified.
* @param out Vector containing diagonal elements. Modified.
*/
public static void diag( FMatrix6x6 input , FMatrix6 out ) {
out.a1 = input.a11;
out.a2 = input.a22;
out.a3 = input.a33;
out.a4 = input.a44;
out.a5 = input.a55;
out.a6 = input.a66;
}
/**
*
* Returns the value of the element in the matrix that has the largest value.
*
* Max{ aij } for all i and j
*
*
* @param a A matrix. Not modified.
* @return The max element value of the matrix.
*/
public static float elementMax( FMatrix6x6 a ) {
float max = a.a11;
if( a.a12 > max ) max = a.a12;
if( a.a13 > max ) max = a.a13;
if( a.a14 > max ) max = a.a14;
if( a.a15 > max ) max = a.a15;
if( a.a16 > max ) max = a.a16;
if( a.a21 > max ) max = a.a21;
if( a.a22 > max ) max = a.a22;
if( a.a23 > max ) max = a.a23;
if( a.a24 > max ) max = a.a24;
if( a.a25 > max ) max = a.a25;
if( a.a26 > max ) max = a.a26;
if( a.a31 > max ) max = a.a31;
if( a.a32 > max ) max = a.a32;
if( a.a33 > max ) max = a.a33;
if( a.a34 > max ) max = a.a34;
if( a.a35 > max ) max = a.a35;
if( a.a36 > max ) max = a.a36;
if( a.a41 > max ) max = a.a41;
if( a.a42 > max ) max = a.a42;
if( a.a43 > max ) max = a.a43;
if( a.a44 > max ) max = a.a44;
if( a.a45 > max ) max = a.a45;
if( a.a46 > max ) max = a.a46;
if( a.a51 > max ) max = a.a51;
if( a.a52 > max ) max = a.a52;
if( a.a53 > max ) max = a.a53;
if( a.a54 > max ) max = a.a54;
if( a.a55 > max ) max = a.a55;
if( a.a56 > max ) max = a.a56;
if( a.a61 > max ) max = a.a61;
if( a.a62 > max ) max = a.a62;
if( a.a63 > max ) max = a.a63;
if( a.a64 > max ) max = a.a64;
if( a.a65 > max ) max = a.a65;
if( a.a66 > max ) max = a.a66;
return max;
}
/**
*
* Returns the value of the element in the vector that has the largest value.
*
* Max{ ai } for all i
*
*
* @param a A vector. Not modified.
* @return The max element value of the matrix.
*/
public static float elementMax( FMatrix6 a ) {
float max = a.a1;
if( a.a2 > max ) max = a.a2;
if( a.a3 > max ) max = a.a3;
if( a.a4 > max ) max = a.a4;
if( a.a5 > max ) max = a.a5;
if( a.a6 > max ) max = a.a6;
return max;
}
/**
*
* Returns the absolute value of the element in the matrix that has the largest absolute value.
*
* Max{ |aij| } for all i and j
*
*
* @param a A matrix. Not modified.
* @return The max abs element value of the matrix.
*/
public static float elementMaxAbs( FMatrix6x6 a ) {
float max = Math.abs(a.a11);
float tmp = Math.abs(a.a12); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a13); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a14); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a15); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a16); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a21); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a22); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a23); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a24); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a25); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a26); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a31); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a32); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a33); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a34); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a35); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a36); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a41); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a42); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a43); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a44); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a45); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a46); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a51); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a52); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a53); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a54); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a55); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a56); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a61); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a62); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a63); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a64); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a65); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a66); if( tmp > max ) max = tmp;
return max;
}
/**
*
* Returns the absolute value of the element in the vector that has the largest absolute value.
*
* Max{ |ai| } for all i
*
*
* @param a A matrix. Not modified.
* @return The max abs element value of the vector.
*/
public static float elementMaxAbs( FMatrix6 a ) {
float max = Math.abs(a.a1);
float tmp = Math.abs(a.a2); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a2); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a3); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a4); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a5); if( tmp > max ) max = tmp;
tmp = Math.abs(a.a6); if( tmp > max ) max = tmp;
return max;
}
/**
*
* Returns the value of the element in the matrix that has the minimum value.
*
* Min{ aij } for all i and j
*
*
* @param a A matrix. Not modified.
* @return The value of element in the matrix with the minimum value.
*/
public static float elementMin( FMatrix6x6 a ) {
float min = a.a11;
if( a.a12 < min ) min = a.a12;
if( a.a13 < min ) min = a.a13;
if( a.a14 < min ) min = a.a14;
if( a.a15 < min ) min = a.a15;
if( a.a16 < min ) min = a.a16;
if( a.a21 < min ) min = a.a21;
if( a.a22 < min ) min = a.a22;
if( a.a23 < min ) min = a.a23;
if( a.a24 < min ) min = a.a24;
if( a.a25 < min ) min = a.a25;
if( a.a26 < min ) min = a.a26;
if( a.a31 < min ) min = a.a31;
if( a.a32 < min ) min = a.a32;
if( a.a33 < min ) min = a.a33;
if( a.a34 < min ) min = a.a34;
if( a.a35 < min ) min = a.a35;
if( a.a36 < min ) min = a.a36;
if( a.a41 < min ) min = a.a41;
if( a.a42 < min ) min = a.a42;
if( a.a43 < min ) min = a.a43;
if( a.a44 < min ) min = a.a44;
if( a.a45 < min ) min = a.a45;
if( a.a46 < min ) min = a.a46;
if( a.a51 < min ) min = a.a51;
if( a.a52 < min ) min = a.a52;
if( a.a53 < min ) min = a.a53;
if( a.a54 < min ) min = a.a54;
if( a.a55 < min ) min = a.a55;
if( a.a56 < min ) min = a.a56;
if( a.a61 < min ) min = a.a61;
if( a.a62 < min ) min = a.a62;
if( a.a63 < min ) min = a.a63;
if( a.a64 < min ) min = a.a64;
if( a.a65 < min ) min = a.a65;
if( a.a66 < min ) min = a.a66;
return min;
}
/**
*
* Returns the value of the element in the vector that has the minimum value.
*
* Min{ ai } for all
*
*
* @param a A matrix. Not modified.
* @return The value of element in the vector with the minimum value.
*/
public static float elementMin( FMatrix6 a ) {
float min = a.a1;
if( a.a2 < min ) min = a.a2;
if( a.a3 < min ) min = a.a3;
if( a.a4 < min ) min = a.a4;
if( a.a5 < min ) min = a.a5;
if( a.a6 < min ) min = a.a6;
return min;
}
/**
*
* Returns the absolute value of the element in the matrix that has the smallest absolute value.
*
* Min{ |aij| } for all i and j
*
*
* @param a A matrix. Not modified.
* @return The max element value of the matrix.
*/
public static float elementMinAbs( FMatrix6x6 a ) {
float min = Math.abs(a.a11);
float tmp = Math.abs(a.a12); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a13); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a14); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a15); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a16); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a21); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a22); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a23); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a24); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a25); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a26); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a31); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a32); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a33); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a34); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a35); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a36); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a41); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a42); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a43); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a44); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a45); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a46); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a51); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a52); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a53); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a54); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a55); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a56); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a61); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a62); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a63); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a64); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a65); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a66); if( tmp < min ) min = tmp;
return min;
}
/**
*
* Returns the absolute value of the element in the vector that has the smallest absolute value.
*
* Min{ |ai| } for all i
*
*
* @param a A matrix. Not modified.
* @return The max element value of the vector.
*/
public static float elementMinAbs( FMatrix6 a ) {
float min = Math.abs(a.a1);
float tmp = Math.abs(a.a1); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a2); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a3); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a4); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a5); if( tmp < min ) min = tmp;
tmp = Math.abs(a.a6); if( tmp < min ) min = tmp;
return min;
}
/**
* Performs an element by element multiplication operation:
*
* aij = aij * bij
*
* @param a The left matrix in the multiplication operation. Modified.
* @param b The right matrix in the multiplication operation. Not modified.
*/
public static void elementMult( FMatrix6x6 a , FMatrix6x6 b) {
a.a11 *= b.a11; a.a12 *= b.a12; a.a13 *= b.a13; a.a14 *= b.a14; a.a15 *= b.a15; a.a16 *= b.a16;
a.a21 *= b.a21; a.a22 *= b.a22; a.a23 *= b.a23; a.a24 *= b.a24; a.a25 *= b.a25; a.a26 *= b.a26;
a.a31 *= b.a31; a.a32 *= b.a32; a.a33 *= b.a33; a.a34 *= b.a34; a.a35 *= b.a35; a.a36 *= b.a36;
a.a41 *= b.a41; a.a42 *= b.a42; a.a43 *= b.a43; a.a44 *= b.a44; a.a45 *= b.a45; a.a46 *= b.a46;
a.a51 *= b.a51; a.a52 *= b.a52; a.a53 *= b.a53; a.a54 *= b.a54; a.a55 *= b.a55; a.a56 *= b.a56;
a.a61 *= b.a61; a.a62 *= b.a62; a.a63 *= b.a63; a.a64 *= b.a64; a.a65 *= b.a65; a.a66 *= b.a66;
}
/**
* Performs an element by element multiplication operation:
*
* ai = ai * bi
*
* @param a The left vector in the multiplication operation. Modified.
* @param b The right vector in the multiplication operation. Not modified.
*/
public static void elementMult( FMatrix6 a , FMatrix6 b) {
a.a1 *= b.a1;
a.a2 *= b.a2;
a.a3 *= b.a3;
a.a4 *= b.a4;
a.a5 *= b.a5;
a.a6 *= b.a6;
}
/**
* Performs an element by element multiplication operation:
*
* cij = aij * bij
*
* @param a The left matrix in the multiplication operation. Not modified.
* @param b The right matrix in the multiplication operation. Not modified.
* @param c Where the results of the operation are stored. Modified.
*/
public static void elementMult( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c ) {
c.a11 = a.a11*b.a11; c.a12 = a.a12*b.a12; c.a13 = a.a13*b.a13; c.a14 = a.a14*b.a14; c.a15 = a.a15*b.a15; c.a16 = a.a16*b.a16;
c.a21 = a.a21*b.a21; c.a22 = a.a22*b.a22; c.a23 = a.a23*b.a23; c.a24 = a.a24*b.a24; c.a25 = a.a25*b.a25; c.a26 = a.a26*b.a26;
c.a31 = a.a31*b.a31; c.a32 = a.a32*b.a32; c.a33 = a.a33*b.a33; c.a34 = a.a34*b.a34; c.a35 = a.a35*b.a35; c.a36 = a.a36*b.a36;
c.a41 = a.a41*b.a41; c.a42 = a.a42*b.a42; c.a43 = a.a43*b.a43; c.a44 = a.a44*b.a44; c.a45 = a.a45*b.a45; c.a46 = a.a46*b.a46;
c.a51 = a.a51*b.a51; c.a52 = a.a52*b.a52; c.a53 = a.a53*b.a53; c.a54 = a.a54*b.a54; c.a55 = a.a55*b.a55; c.a56 = a.a56*b.a56;
c.a61 = a.a61*b.a61; c.a62 = a.a62*b.a62; c.a63 = a.a63*b.a63; c.a64 = a.a64*b.a64; c.a65 = a.a65*b.a65; c.a66 = a.a66*b.a66;
}
/**
* Performs an element by element multiplication operation:
*
* ci = ai * bj
*
* @param a The left vector in the multiplication operation. Not modified.
* @param b The right vector in the multiplication operation. Not modified.
* @param c Where the results of the operation are stored. Modified.
*/
public static void elementMult( FMatrix6 a , FMatrix6 b , FMatrix6 c ) {
c.a1 = a.a1*b.a1;
c.a2 = a.a2*b.a2;
c.a3 = a.a3*b.a3;
c.a4 = a.a4*b.a4;
c.a5 = a.a5*b.a5;
c.a6 = a.a6*b.a6;
}
/**
* Performs an element by element division operation:
*
* aij = aij / bij
*
* @param a The left matrix in the division operation. Modified.
* @param b The right matrix in the division operation. Not modified.
*/
public static void elementDiv( FMatrix6x6 a , FMatrix6x6 b) {
a.a11 /= b.a11; a.a12 /= b.a12; a.a13 /= b.a13; a.a14 /= b.a14; a.a15 /= b.a15; a.a16 /= b.a16;
a.a21 /= b.a21; a.a22 /= b.a22; a.a23 /= b.a23; a.a24 /= b.a24; a.a25 /= b.a25; a.a26 /= b.a26;
a.a31 /= b.a31; a.a32 /= b.a32; a.a33 /= b.a33; a.a34 /= b.a34; a.a35 /= b.a35; a.a36 /= b.a36;
a.a41 /= b.a41; a.a42 /= b.a42; a.a43 /= b.a43; a.a44 /= b.a44; a.a45 /= b.a45; a.a46 /= b.a46;
a.a51 /= b.a51; a.a52 /= b.a52; a.a53 /= b.a53; a.a54 /= b.a54; a.a55 /= b.a55; a.a56 /= b.a56;
a.a61 /= b.a61; a.a62 /= b.a62; a.a63 /= b.a63; a.a64 /= b.a64; a.a65 /= b.a65; a.a66 /= b.a66;
}
/**
* Performs an element by element division operation:
*
* ai = ai / bi
*
* @param a The left vector in the division operation. Modified.
* @param b The right vector in the division operation. Not modified.
*/
public static void elementDiv( FMatrix6 a , FMatrix6 b) {
a.a1 /= b.a1;
a.a2 /= b.a2;
a.a3 /= b.a3;
a.a4 /= b.a4;
a.a5 /= b.a5;
a.a6 /= b.a6;
}
/**
* Performs an element by element division operation:
*
* cij = aij / bij
*
* @param a The left matrix in the division operation. Not modified.
* @param b The right matrix in the division operation. Not modified.
* @param c Where the results of the operation are stored. Modified.
*/
public static void elementDiv( FMatrix6x6 a , FMatrix6x6 b , FMatrix6x6 c ) {
c.a11 = a.a11/b.a11; c.a12 = a.a12/b.a12; c.a13 = a.a13/b.a13; c.a14 = a.a14/b.a14; c.a15 = a.a15/b.a15; c.a16 = a.a16/b.a16;
c.a21 = a.a21/b.a21; c.a22 = a.a22/b.a22; c.a23 = a.a23/b.a23; c.a24 = a.a24/b.a24; c.a25 = a.a25/b.a25; c.a26 = a.a26/b.a26;
c.a31 = a.a31/b.a31; c.a32 = a.a32/b.a32; c.a33 = a.a33/b.a33; c.a34 = a.a34/b.a34; c.a35 = a.a35/b.a35; c.a36 = a.a36/b.a36;
c.a41 = a.a41/b.a41; c.a42 = a.a42/b.a42; c.a43 = a.a43/b.a43; c.a44 = a.a44/b.a44; c.a45 = a.a45/b.a45; c.a46 = a.a46/b.a46;
c.a51 = a.a51/b.a51; c.a52 = a.a52/b.a52; c.a53 = a.a53/b.a53; c.a54 = a.a54/b.a54; c.a55 = a.a55/b.a55; c.a56 = a.a56/b.a56;
c.a61 = a.a61/b.a61; c.a62 = a.a62/b.a62; c.a63 = a.a63/b.a63; c.a64 = a.a64/b.a64; c.a65 = a.a65/b.a65; c.a66 = a.a66/b.a66;
}
/**
* Performs an element by element division operation:
*
* ci = ai / bi
*
* @param a The left vector in the division operation. Not modified.
* @param b The right vector in the division operation. Not modified.
* @param c Where the results of the operation are stored. Modified.
*/
public static void elementDiv( FMatrix6 a , FMatrix6 b , FMatrix6 c ) {
c.a1 = a.a1/b.a1;
c.a2 = a.a2/b.a2;
c.a3 = a.a3/b.a3;
c.a4 = a.a4/b.a4;
c.a5 = a.a5/b.a5;
c.a6 = a.a6/b.a6;
}
/**
*
* Performs an in-place element by element scalar multiplication.
*
* aij = α*aij
*
*
* @param a The matrix that is to be scaled. Modified.
* @param alpha the amount each element is multiplied by.
*/
public static void scale( float alpha , FMatrix6x6 a ) {
a.a11 *= alpha; a.a12 *= alpha; a.a13 *= alpha; a.a14 *= alpha; a.a15 *= alpha; a.a16 *= alpha;
a.a21 *= alpha; a.a22 *= alpha; a.a23 *= alpha; a.a24 *= alpha; a.a25 *= alpha; a.a26 *= alpha;
a.a31 *= alpha; a.a32 *= alpha; a.a33 *= alpha; a.a34 *= alpha; a.a35 *= alpha; a.a36 *= alpha;
a.a41 *= alpha; a.a42 *= alpha; a.a43 *= alpha; a.a44 *= alpha; a.a45 *= alpha; a.a46 *= alpha;
a.a51 *= alpha; a.a52 *= alpha; a.a53 *= alpha; a.a54 *= alpha; a.a55 *= alpha; a.a56 *= alpha;
a.a61 *= alpha; a.a62 *= alpha; a.a63 *= alpha; a.a64 *= alpha; a.a65 *= alpha; a.a66 *= alpha;
}
/**
*
* Performs an in-place element by element scalar multiplication.
*
* aij = α*aij
*
*
* @param a The vector that is to be scaled. Modified.
* @param alpha the amount each element is multiplied by.
*/
public static void scale( float alpha , FMatrix6 a ) {
a.a1 *= alpha;
a.a2 *= alpha;
a.a3 *= alpha;
a.a4 *= alpha;
a.a5 *= alpha;
a.a6 *= alpha;
}
/**
*
* Performs an element by element scalar multiplication.
*
* bij = α*aij
*
*
* @param alpha the amount each element is multiplied by.
* @param a The matrix that is to be scaled. Not modified.
* @param b Where the scaled matrix is stored. Modified.
*/
public static void scale( float alpha , FMatrix6x6 a , FMatrix6x6 b ) {
b.a11 = a.a11*alpha; b.a12 = a.a12*alpha; b.a13 = a.a13*alpha; b.a14 = a.a14*alpha; b.a15 = a.a15*alpha; b.a16 = a.a16*alpha;
b.a21 = a.a21*alpha; b.a22 = a.a22*alpha; b.a23 = a.a23*alpha; b.a24 = a.a24*alpha; b.a25 = a.a25*alpha; b.a26 = a.a26*alpha;
b.a31 = a.a31*alpha; b.a32 = a.a32*alpha; b.a33 = a.a33*alpha; b.a34 = a.a34*alpha; b.a35 = a.a35*alpha; b.a36 = a.a36*alpha;
b.a41 = a.a41*alpha; b.a42 = a.a42*alpha; b.a43 = a.a43*alpha; b.a44 = a.a44*alpha; b.a45 = a.a45*alpha; b.a46 = a.a46*alpha;
b.a51 = a.a51*alpha; b.a52 = a.a52*alpha; b.a53 = a.a53*alpha; b.a54 = a.a54*alpha; b.a55 = a.a55*alpha; b.a56 = a.a56*alpha;
b.a61 = a.a61*alpha; b.a62 = a.a62*alpha; b.a63 = a.a63*alpha; b.a64 = a.a64*alpha; b.a65 = a.a65*alpha; b.a66 = a.a66*alpha;
}
/**
*
* Performs an element by element scalar multiplication.
*
* bi = α*ai
*
*
* @param alpha the amount each element is multiplied by.
* @param a The vector that is to be scaled. Not modified.
* @param b Where the scaled matrix is stored. Modified.
*/
public static void scale( float alpha , FMatrix6 a , FMatrix6 b ) {
b.a1 = a.a1*alpha;
b.a2 = a.a2*alpha;
b.a3 = a.a3*alpha;
b.a4 = a.a4*alpha;
b.a5 = a.a5*alpha;
b.a6 = a.a6*alpha;
}
/**
*
* Performs an in-place element by element scalar division. Scalar denominator.
*
* aij = aij/α
*
*
* @param a The matrix whose elements are to be divided. Modified.
* @param alpha the amount each element is divided by.
*/
public static void divide( FMatrix6x6 a , float alpha ) {
a.a11 /= alpha; a.a12 /= alpha; a.a13 /= alpha; a.a14 /= alpha; a.a15 /= alpha; a.a16 /= alpha;
a.a21 /= alpha; a.a22 /= alpha; a.a23 /= alpha; a.a24 /= alpha; a.a25 /= alpha; a.a26 /= alpha;
a.a31 /= alpha; a.a32 /= alpha; a.a33 /= alpha; a.a34 /= alpha; a.a35 /= alpha; a.a36 /= alpha;
a.a41 /= alpha; a.a42 /= alpha; a.a43 /= alpha; a.a44 /= alpha; a.a45 /= alpha; a.a46 /= alpha;
a.a51 /= alpha; a.a52 /= alpha; a.a53 /= alpha; a.a54 /= alpha; a.a55 /= alpha; a.a56 /= alpha;
a.a61 /= alpha; a.a62 /= alpha; a.a63 /= alpha; a.a64 /= alpha; a.a65 /= alpha; a.a66 /= alpha;
}
/**
*
* Performs an in-place element by element scalar division. Scalar denominator.
*
* ai = ai/α
*
*
* @param a The vector whose elements are to be divided. Modified.
* @param alpha the amount each element is divided by.
*/
public static void divide( FMatrix6 a , float alpha ) {
a.a1 /= alpha;
a.a2 /= alpha;
a.a3 /= alpha;
a.a4 /= alpha;
a.a5 /= alpha;
a.a6 /= alpha;
}
/**
*
* Performs an element by element scalar division. Scalar denominator.
*
* bij = aij /α
*
*
* @param alpha the amount each element is divided by.
* @param a The matrix whose elements are to be divided. Not modified.
* @param b Where the results are stored. Modified.
*/
public static void divide( FMatrix6x6 a , float alpha , FMatrix6x6 b ) {
b.a11 = a.a11/alpha; b.a12 = a.a12/alpha; b.a13 = a.a13/alpha; b.a14 = a.a14/alpha; b.a15 = a.a15/alpha; b.a16 = a.a16/alpha;
b.a21 = a.a21/alpha; b.a22 = a.a22/alpha; b.a23 = a.a23/alpha; b.a24 = a.a24/alpha; b.a25 = a.a25/alpha; b.a26 = a.a26/alpha;
b.a31 = a.a31/alpha; b.a32 = a.a32/alpha; b.a33 = a.a33/alpha; b.a34 = a.a34/alpha; b.a35 = a.a35/alpha; b.a36 = a.a36/alpha;
b.a41 = a.a41/alpha; b.a42 = a.a42/alpha; b.a43 = a.a43/alpha; b.a44 = a.a44/alpha; b.a45 = a.a45/alpha; b.a46 = a.a46/alpha;
b.a51 = a.a51/alpha; b.a52 = a.a52/alpha; b.a53 = a.a53/alpha; b.a54 = a.a54/alpha; b.a55 = a.a55/alpha; b.a56 = a.a56/alpha;
b.a61 = a.a61/alpha; b.a62 = a.a62/alpha; b.a63 = a.a63/alpha; b.a64 = a.a64/alpha; b.a65 = a.a65/alpha; b.a66 = a.a66/alpha;
}
/**
*
* Performs an element by element scalar division. Scalar denominator.
*
* bi = ai /α
*
*
* @param alpha the amount each element is divided by.
* @param a The vector whose elements are to be divided. Not modified.
* @param b Where the results are stored. Modified.
*/
public static void divide( FMatrix6 a , float alpha , FMatrix6 b ) {
b.a1 = a.a1/alpha;
b.a2 = a.a2/alpha;
b.a3 = a.a3/alpha;
b.a4 = a.a4/alpha;
b.a5 = a.a5/alpha;
b.a6 = a.a6/alpha;
}
/**
*
* Changes the sign of every element in the matrix.
*
* aij = -aij
*
*
* @param a A matrix. Modified.
*/
public static void changeSign( FMatrix6x6 a )
{
a.a11 = -a.a11; a.a12 = -a.a12; a.a13 = -a.a13; a.a14 = -a.a14; a.a15 = -a.a15; a.a16 = -a.a16;
a.a21 = -a.a21; a.a22 = -a.a22; a.a23 = -a.a23; a.a24 = -a.a24; a.a25 = -a.a25; a.a26 = -a.a26;
a.a31 = -a.a31; a.a32 = -a.a32; a.a33 = -a.a33; a.a34 = -a.a34; a.a35 = -a.a35; a.a36 = -a.a36;
a.a41 = -a.a41; a.a42 = -a.a42; a.a43 = -a.a43; a.a44 = -a.a44; a.a45 = -a.a45; a.a46 = -a.a46;
a.a51 = -a.a51; a.a52 = -a.a52; a.a53 = -a.a53; a.a54 = -a.a54; a.a55 = -a.a55; a.a56 = -a.a56;
a.a61 = -a.a61; a.a62 = -a.a62; a.a63 = -a.a63; a.a64 = -a.a64; a.a65 = -a.a65; a.a66 = -a.a66;
}
/**
*
* Changes the sign of every element in the vector.
*
* ai = -ai
*
*
* @param a A vector. Modified.
*/
public static void changeSign( FMatrix6 a )
{
a.a1 = -a.a1;
a.a2 = -a.a2;
a.a3 = -a.a3;
a.a4 = -a.a4;
a.a5 = -a.a5;
a.a6 = -a.a6;
}
/**
*
* Sets every element in the matrix to the specified value.
*
* aij = value
*
*
* @param a A matrix whose elements are about to be set. Modified.
* @param v The value each element will have.
*/
public static void fill( FMatrix6x6 a , float v ) {
a.a11 = v; a.a12 = v; a.a13 = v; a.a14 = v; a.a15 = v; a.a16 = v;
a.a21 = v; a.a22 = v; a.a23 = v; a.a24 = v; a.a25 = v; a.a26 = v;
a.a31 = v; a.a32 = v; a.a33 = v; a.a34 = v; a.a35 = v; a.a36 = v;
a.a41 = v; a.a42 = v; a.a43 = v; a.a44 = v; a.a45 = v; a.a46 = v;
a.a51 = v; a.a52 = v; a.a53 = v; a.a54 = v; a.a55 = v; a.a56 = v;
a.a61 = v; a.a62 = v; a.a63 = v; a.a64 = v; a.a65 = v; a.a66 = v;
}
/**
*
* Sets every element in the vector to the specified value.
*
* ai = value
*
*
* @param a A vector whose elements are about to be set. Modified.
* @param v The value each element will have.
*/
public static void fill( FMatrix6 a , float v ) {
a.a1 = v;
a.a2 = v;
a.a3 = v;
a.a4 = v;
a.a5 = v;
a.a6 = v;
}
/**
* Extracts the row from the matrix a.
* @param a Input matrix
* @param row Which row is to be extracted
* @param out output. Storage for the extracted row. If null then a new vector will be returned.
* @return The extracted row.
*/
public static FMatrix6 extractRow( FMatrix6x6 a , int row , FMatrix6 out ) {
if( out == null) out = new FMatrix6();
switch( row ) {
case 0:
out.a1 = a.a11;
out.a2 = a.a12;
out.a3 = a.a13;
out.a4 = a.a14;
out.a5 = a.a15;
out.a6 = a.a16;
break;
case 1:
out.a1 = a.a21;
out.a2 = a.a22;
out.a3 = a.a23;
out.a4 = a.a24;
out.a5 = a.a25;
out.a6 = a.a26;
break;
case 2:
out.a1 = a.a31;
out.a2 = a.a32;
out.a3 = a.a33;
out.a4 = a.a34;
out.a5 = a.a35;
out.a6 = a.a36;
break;
case 3:
out.a1 = a.a41;
out.a2 = a.a42;
out.a3 = a.a43;
out.a4 = a.a44;
out.a5 = a.a45;
out.a6 = a.a46;
break;
case 4:
out.a1 = a.a51;
out.a2 = a.a52;
out.a3 = a.a53;
out.a4 = a.a54;
out.a5 = a.a55;
out.a6 = a.a56;
break;
case 5:
out.a1 = a.a61;
out.a2 = a.a62;
out.a3 = a.a63;
out.a4 = a.a64;
out.a5 = a.a65;
out.a6 = a.a66;
break;
default:
throw new IllegalArgumentException("Out of bounds row. row = "+row);
}
return out;
}
/**
* Extracts the column from the matrix a.
* @param a Input matrix
* @param column Which column is to be extracted
* @param out output. Storage for the extracted column. If null then a new vector will be returned.
* @return The extracted column.
*/
public static FMatrix6 extractColumn( FMatrix6x6 a , int column , FMatrix6 out ) {
if( out == null) out = new FMatrix6();
switch( column ) {
case 0:
out.a1 = a.a11;
out.a2 = a.a21;
out.a3 = a.a31;
out.a4 = a.a41;
out.a5 = a.a51;
out.a6 = a.a61;
break;
case 1:
out.a1 = a.a12;
out.a2 = a.a22;
out.a3 = a.a32;
out.a4 = a.a42;
out.a5 = a.a52;
out.a6 = a.a62;
break;
case 2:
out.a1 = a.a13;
out.a2 = a.a23;
out.a3 = a.a33;
out.a4 = a.a43;
out.a5 = a.a53;
out.a6 = a.a63;
break;
case 3:
out.a1 = a.a14;
out.a2 = a.a24;
out.a3 = a.a34;
out.a4 = a.a44;
out.a5 = a.a54;
out.a6 = a.a64;
break;
case 4:
out.a1 = a.a15;
out.a2 = a.a25;
out.a3 = a.a35;
out.a4 = a.a45;
out.a5 = a.a55;
out.a6 = a.a65;
break;
case 5:
out.a1 = a.a16;
out.a2 = a.a26;
out.a3 = a.a36;
out.a4 = a.a46;
out.a5 = a.a56;
out.a6 = a.a66;
break;
default:
throw new IllegalArgumentException("Out of bounds column. column = "+column);
}
return out;
}
}