helpers.h

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#pragma once
 
#include "utils/testing.h"
 
#include <jem/base/Array.h>
#include <jem/base/CString.h>
#include <jem/numeric/Quaternion.h>
#include <jem/numeric/algebra.h>
#include <jem/numeric/func/Function.h>
 
#include <jive/Array.h>
#include <jive/util/FuncUtils.h>
 
#define WARN(key) jem::System::warn() << key << "\n";
#define ERR(key) jem::System::err() << key << "\n";
 
using jem::ALL;
using jem::Array;
using jem::idx_t;
using jem::SliceFromTo;
using jem::String;
using jem::numeric::dotProduct;
using jem::numeric::Function;
using jem::numeric::matmul;
using jem::numeric::MatmulChain;
using jem::numeric::norm2;
using jem::numeric::Quaternion;
 
using jive::Cubix;
using jive::IdxVector;
using jive::Matrix;
using jive::Ref;
using jive::Vector;
using jive::util::FuncUtils;
 
namespace jive_helpers
{
  typedef Array<double, 4> Quadix;
  typedef Array<IdxVector, 2> IdxVectorMatrix;
 
  const Vector e1 = {1., 0., 0.};
  const Vector e2 = {0., 1., 0.};
  const Vector e3 = {0., 0., 1.};
  const Vector vec0 = {0., 0., 0.};
  const double TINY = __DBL_EPSILON__ * 1e6;
 
  Vector funcGrad(const Ref<Function> func, const Vector &args);
 
  Vector evalFuncs(const FuncUtils::FuncArray funcs, const Vector &args);
 
  Matrix funcHessian(const Ref<Function> func, const Vector &args);
 
  Matrix gradFuncs(const FuncUtils::FuncArray funcs, const Vector &args);
 
  Matrix eye(const idx_t dim = 3);
 
  void logMat(const Vector &rv, const Matrix &R);
 
  void vec2mat(const Matrix &mat, const Vector &vec);
 
  void mat2vec(const Vector &vec, const Matrix &mat);
 
  void expVec(const Matrix &Exp, const Vector &v);
 
  void expVecP(const Matrix &ExpP, const Vector &v, const Vector &vP);
 
  double trace(const Matrix &mat);
 
  idx_t factorial(const idx_t n);
 
  idx_t binom(const idx_t n, const idx_t k);
 
  double matrixNorm2(const Matrix &mat);
 
  Matrix skew(const Vector &vec);
 
  Vector unskew(const Matrix &mat);
}; // namespace jive_helpers