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Code-style consistency improvement:

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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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367
examples/ThirdPartyLibs/BussIK/MatrixRmn.h
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@@ -20,7 +20,6 @@ subject to the following restrictions:
*
*/
//
// MatrixRmn: Matrix over reals (Variable dimensional vector)
//
@@ -36,21 +35,21 @@ subject to the following restrictions:
#include "LinearR3.h"
#include "VectorRn.h"
class MatrixRmn {
class MatrixRmn
{
public:
MatrixRmn(); // Null constructor
MatrixRmn( long numRows, long numCols ); // Constructor with length
~MatrixRmn(); // Destructor
MatrixRmn(); // Null constructor
MatrixRmn(long numRows, long numCols); // Constructor with length
~MatrixRmn(); // Destructor
void SetSize( long numRows, long numCols );
long GetNumRows() const { return NumRows; }
long GetNumColumns() const { return NumCols; }
void SetZero();
void SetSize(long numRows, long numCols);
long GetNumRows() const { return NumRows; }
long GetNumColumns() const { return NumCols; }
void SetZero();
// Return entry in row i and column j.
double Get( long i, long j ) const;
void GetTriple( long i, long j, VectorR3 *retValue ) const;
double Get(long i, long j) const;
void GetTriple(long i, long j, VectorR3* retValue) const;
// Use GetPtr to get pointer into the array (efficient)
// Is friendly in that anyone can change the array contents (be careful!)
@@ -59,115 +58,124 @@ public:
// within the matrix. I do not expect these values to ever change.
const double* GetPtr() const;
double* GetPtr();
const double* GetPtr( long i, long j ) const;
double* GetPtr( long i, long j );
const double* GetColumnPtr( long j ) const;
double* GetColumnPtr( long j );
const double* GetRowPtr( long i ) const;
double* GetRowPtr( long i );
long GetRowStride() const { return NumRows; } // Step size (stride) along a row
long GetColStride() const { return 1; } // Step size (stide) along a column
const double* GetPtr(long i, long j) const;
double* GetPtr(long i, long j);
const double* GetColumnPtr(long j) const;
double* GetColumnPtr(long j);
const double* GetRowPtr(long i) const;
double* GetRowPtr(long i);
long GetRowStride() const { return NumRows; } // Step size (stride) along a row
long GetColStride() const { return 1; } // Step size (stide) along a column
void Set( long i, long j, double val );
void SetTriple( long i, long c, const VectorR3& u );
void Set(long i, long j, double val);
void SetTriple(long i, long c, const VectorR3& u);
void SetIdentity();
void SetDiagonalEntries( double d );
void SetDiagonalEntries( const VectorRn& d );
void SetSuperDiagonalEntries( double d );
void SetSuperDiagonalEntries( const VectorRn& d );
void SetSubDiagonalEntries( double d );
void SetSubDiagonalEntries( const VectorRn& d );
void SetColumn(long i, const VectorRn& d );
void SetRow(long i, const VectorRn& d );
void SetSequence( const VectorRn& d, long startRow, long startCol, long deltaRow, long deltaCol );
void SetDiagonalEntries(double d);
void SetDiagonalEntries(const VectorRn& d);
void SetSuperDiagonalEntries(double d);
void SetSuperDiagonalEntries(const VectorRn& d);
void SetSubDiagonalEntries(double d);
void SetSubDiagonalEntries(const VectorRn& d);
void SetColumn(long i, const VectorRn& d);
void SetRow(long i, const VectorRn& d);
void SetSequence(const VectorRn& d, long startRow, long startCol, long deltaRow, long deltaCol);
// Loads matrix in as a sub-matrix. (i,j) is the base point. Defaults to (0,0).
// The "Tranpose" versions load the transpose of A.
void LoadAsSubmatrix( const MatrixRmn& A );
void LoadAsSubmatrix( long i, long j, const MatrixRmn& A );
void LoadAsSubmatrixTranspose( const MatrixRmn& A );
void LoadAsSubmatrixTranspose( long i, long j, const MatrixRmn& A );
void LoadAsSubmatrix(const MatrixRmn& A);
void LoadAsSubmatrix(long i, long j, const MatrixRmn& A);
void LoadAsSubmatrixTranspose(const MatrixRmn& A);
void LoadAsSubmatrixTranspose(long i, long j, const MatrixRmn& A);
// Norms
double FrobeniusNormSq() const;
double FrobeniusNorm() const;
// Operations on VectorRn's
void Multiply( const VectorRn& v, VectorRn& result ) const; // result = (this)*(v)
void MultiplyTranspose( const VectorRn& v, VectorRn& result ) const; // Equivalent to mult by row vector on left
double DotProductColumn( const VectorRn& v, long colNum ) const; // Returns dot product of v with i-th column
void Multiply(const VectorRn& v, VectorRn& result) const; // result = (this)*(v)
void MultiplyTranspose(const VectorRn& v, VectorRn& result) const; // Equivalent to mult by row vector on left
double DotProductColumn(const VectorRn& v, long colNum) const; // Returns dot product of v with i-th column
// Operations on MatrixRmn's
MatrixRmn& operator*=( double );
MatrixRmn& operator/=( double d ) { assert(d!=0.0); *this *= (1.0/d); return *this; }
MatrixRmn& AddScaled( const MatrixRmn& B, double factor );
MatrixRmn& operator+=( const MatrixRmn& B );
MatrixRmn& operator-=( const MatrixRmn& B );
static MatrixRmn& Multiply( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ); // Sets dst = A*B.
static MatrixRmn& MultiplyTranspose( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ); // Sets dst = A*(B-tranpose).
static MatrixRmn& TransposeMultiply( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ); // Sets dst = (A-transpose)*B.
MatrixRmn& operator*=(double);
MatrixRmn& operator/=(double d)
{
assert(d != 0.0);
*this *= (1.0 / d);
return *this;
}
MatrixRmn& AddScaled(const MatrixRmn& B, double factor);
MatrixRmn& operator+=(const MatrixRmn& B);
MatrixRmn& operator-=(const MatrixRmn& B);
static MatrixRmn& Multiply(const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst); // Sets dst = A*B.
static MatrixRmn& MultiplyTranspose(const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst); // Sets dst = A*(B-tranpose).
static MatrixRmn& TransposeMultiply(const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst); // Sets dst = (A-transpose)*B.
// Miscellaneous operation
MatrixRmn& AddToDiagonal( double d ); // Adds d to each diagonal
MatrixRmn& AddToDiagonal( const VectorRn& dVec);
MatrixRmn& AddToDiagonal(double d); // Adds d to each diagonal
MatrixRmn& AddToDiagonal(const VectorRn& dVec);
// Solving systems of linear equations
void Solve( const VectorRn& b, VectorRn* x ) const; // Solves the equation (*this)*x = b; Uses row operations. Assumes *this is invertible.
void Solve(const VectorRn& b, VectorRn* x) const; // Solves the equation (*this)*x = b; Uses row operations. Assumes *this is invertible.
// Row Echelon Form and Reduced Row Echelon Form routines
// Row echelon form here allows non-negative entries (instead of 1's) in the positions of lead variables.
void ConvertToRefNoFree(); // Converts the matrix in place to row echelon form -- assumption is no free variables will be found
void ConvertToRef( int numVars); // Converts the matrix in place to row echelon form -- numVars is number of columns to work with.
void ConvertToRef( int numVars, double eps); // Same, but eps is the measure of closeness to zero
void ConvertToRefNoFree(); // Converts the matrix in place to row echelon form -- assumption is no free variables will be found
void ConvertToRef(int numVars); // Converts the matrix in place to row echelon form -- numVars is number of columns to work with.
void ConvertToRef(int numVars, double eps); // Same, but eps is the measure of closeness to zero
// Givens transformation
static void CalcGivensValues( double a, double b, double *c, double *s );
void PostApplyGivens( double c, double s, long idx ); // Applies Givens transform to columns idx and idx+1.
void PostApplyGivens( double c, double s, long idx1, long idx2 ); // Applies Givens transform to columns idx1 and idx2.
static void CalcGivensValues(double a, double b, double* c, double* s);
void PostApplyGivens(double c, double s, long idx); // Applies Givens transform to columns idx and idx+1.
void PostApplyGivens(double c, double s, long idx1, long idx2); // Applies Givens transform to columns idx1 and idx2.
// Singular value decomposition
void ComputeSVD( MatrixRmn& U, VectorRn& w, MatrixRmn& V ) const;
void ComputeSVD(MatrixRmn& U, VectorRn& w, MatrixRmn& V) const;
// Good for debugging SVD computations (I recommend this be used for any new application to check for bugs/instability).
bool DebugCheckSVD( const MatrixRmn& U, const VectorRn& w, const MatrixRmn& V ) const;
// Compute inverse of a matrix, the result is written in R
void ComputeInverse( MatrixRmn& R) const;
// Debug matrix inverse computation
bool DebugCheckInverse( const MatrixRmn& MInv ) const;
bool DebugCheckSVD(const MatrixRmn& U, const VectorRn& w, const MatrixRmn& V) const;
// Compute inverse of a matrix, the result is written in R
void ComputeInverse(MatrixRmn& R) const;
// Debug matrix inverse computation
bool DebugCheckInverse(const MatrixRmn& MInv) const;
// Some useful routines for experts who understand the inner workings of these classes.
inline static double DotArray( long length, const double* ptrA, long strideA, const double* ptrB, long strideB );
inline static void CopyArrayScale( long length, const double* from, long fromStride, double *to, long toStride, double scale );
inline static void AddArrayScale( long length, const double* from, long fromStride, double *to, long toStride, double scale );
inline static double DotArray(long length, const double* ptrA, long strideA, const double* ptrB, long strideB);
inline static void CopyArrayScale(long length, const double* from, long fromStride, double* to, long toStride, double scale);
inline static void AddArrayScale(long length, const double* from, long fromStride, double* to, long toStride, double scale);
private:
long NumRows; // Number of rows
long NumCols; // Number of columns
double *x; // Array of vector entries - stored in column order
long AllocSize; // Allocated size of the x array
long NumRows; // Number of rows
long NumCols; // Number of columns
double* x; // Array of vector entries - stored in column order
long AllocSize; // Allocated size of the x array
static MatrixRmn WorkMatrix; // Temporary work matrix
static MatrixRmn WorkMatrix; // Temporary work matrix
static MatrixRmn& GetWorkMatrix() { return WorkMatrix; }
static MatrixRmn& GetWorkMatrix(long numRows, long numCols) { WorkMatrix.SetSize( numRows, numCols ); return WorkMatrix; }
static MatrixRmn& GetWorkMatrix(long numRows, long numCols)
{
WorkMatrix.SetSize(numRows, numCols);
return WorkMatrix;
}
// Internal helper routines for SVD calculations
static void CalcBidiagonal( MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag );
void ConvertBidiagToDiagonal( MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag ) const;
static void SvdHouseholder( double* basePt,
long colLength, long numCols, long colStride, long rowStride,
double* retFirstEntry );
void ExpandHouseholders( long numXforms, int numZerosSkipped, const double* basePt, long colStride, long rowStride );
static bool UpdateBidiagIndices( long *firstDiagIdx, long *lastBidiagIdx, VectorRn& w, VectorRn& superDiag, double eps );
static void ApplyGivensCBTD( double cosine, double sine, double *a, double *b, double *c, double *d );
static void ApplyGivensCBTD( double cosine, double sine, double *a, double *b, double *c,
double d, double *e, double *f );
static void ClearRowWithDiagonalZero( long firstBidiagIdx, long lastBidiagIdx,
MatrixRmn& U, double *wPtr, double *sdPtr, double eps );
static void ClearColumnWithDiagonalZero( long endIdx, MatrixRmn& V, double *wPtr, double *sdPtr, double eps );
bool DebugCalcBidiagCheck( const MatrixRmn& U, const VectorRn& w, const VectorRn& superDiag, const MatrixRmn& V ) const;
static void CalcBidiagonal(MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag);
void ConvertBidiagToDiagonal(MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag) const;
static void SvdHouseholder(double* basePt,
long colLength, long numCols, long colStride, long rowStride,
double* retFirstEntry);
void ExpandHouseholders(long numXforms, int numZerosSkipped, const double* basePt, long colStride, long rowStride);
static bool UpdateBidiagIndices(long* firstDiagIdx, long* lastBidiagIdx, VectorRn& w, VectorRn& superDiag, double eps);
static void ApplyGivensCBTD(double cosine, double sine, double* a, double* b, double* c, double* d);
static void ApplyGivensCBTD(double cosine, double sine, double* a, double* b, double* c,
double d, double* e, double* f);
static void ClearRowWithDiagonalZero(long firstBidiagIdx, long lastBidiagIdx,
MatrixRmn& U, double* wPtr, double* sdPtr, double eps);
static void ClearColumnWithDiagonalZero(long endIdx, MatrixRmn& V, double* wPtr, double* sdPtr, double eps);
bool DebugCalcBidiagCheck(const MatrixRmn& U, const VectorRn& w, const VectorRn& superDiag, const MatrixRmn& V) const;
};
inline MatrixRmn::MatrixRmn()
inline MatrixRmn::MatrixRmn()
{
NumRows = 0;
NumCols = 0;
@@ -175,185 +183,192 @@ inline MatrixRmn::MatrixRmn()
AllocSize = 0;
}
inline MatrixRmn::MatrixRmn( long numRows, long numCols )
inline MatrixRmn::MatrixRmn(long numRows, long numCols)
{
NumRows = 0;
NumCols = 0;
x = 0;
AllocSize = 0;
SetSize( numRows, numCols );
SetSize(numRows, numCols);
}
inline MatrixRmn::~MatrixRmn()
inline MatrixRmn::~MatrixRmn()
{
delete[] x;
}
// Resize.
// Resize.
// If the array space is decreased, the information about the allocated length is lost.
inline void MatrixRmn::SetSize( long numRows, long numCols )
inline void MatrixRmn::SetSize(long numRows, long numCols)
{
assert ( numRows>0 && numCols>0 );
long newLength = numRows*numCols;
if ( newLength>AllocSize ) {
assert(numRows > 0 && numCols > 0);
long newLength = numRows * numCols;
if (newLength > AllocSize)
{
delete[] x;
AllocSize = Max(newLength, AllocSize<<1);
AllocSize = Max(newLength, AllocSize << 1);
x = new double[AllocSize];
}
NumRows = numRows;
NumCols = numCols;
}
}
// Zero out the entire vector
inline void MatrixRmn::SetZero()
{
double* target = x;
for ( long i=NumRows*NumCols; i>0; i-- ) {
for (long i = NumRows * NumCols; i > 0; i--)
{
*(target++) = 0.0;
}
}
// Return entry in row i and column j.
inline double MatrixRmn::Get( long i, long j ) const {
assert ( i<NumRows && j<NumCols );
return *(x+j*NumRows+i);
inline double MatrixRmn::Get(long i, long j) const
{
assert(i < NumRows && j < NumCols);
return *(x + j * NumRows + i);
}
// Return a VectorR3 out of a column. Starts at row 3*i, in column j.
inline void MatrixRmn::GetTriple( long i, long j, VectorR3 *retValue ) const
inline void MatrixRmn::GetTriple(long i, long j, VectorR3* retValue) const
{
long ii = 3*i;
assert ( 0<=i && ii+2<NumRows && 0<=j && j<NumCols );
retValue->Load( x+j*NumRows + ii );
long ii = 3 * i;
assert(0 <= i && ii + 2 < NumRows && 0 <= j && j < NumCols);
retValue->Load(x + j * NumRows + ii);
}
// Get a pointer to the (0,0) entry.
// The entries are in column order.
// The entries are in column order.
// This version gives read-only pointer
inline const double* MatrixRmn::GetPtr( ) const
{
return x;
inline const double* MatrixRmn::GetPtr() const
{
return x;
}
// Get a pointer to the (0,0) entry.
// The entries are in column order.
inline double* MatrixRmn::GetPtr( )
{
return x;
// The entries are in column order.
inline double* MatrixRmn::GetPtr()
{
return x;
}
// Get a pointer to the (i,j) entry.
// The entries are in column order.
// The entries are in column order.
// This version gives read-only pointer
inline const double* MatrixRmn::GetPtr( long i, long j ) const
{
assert ( 0<=i && i<NumRows && 0<=j &&j<NumCols );
return (x+j*NumRows+i);
inline const double* MatrixRmn::GetPtr(long i, long j) const
{
assert(0 <= i && i < NumRows && 0 <= j && j < NumCols);
return (x + j * NumRows + i);
}
// Get a pointer to the (i,j) entry.
// The entries are in column order.
// The entries are in column order.
// This version gives pointer to writable data
inline double* MatrixRmn::GetPtr( long i, long j )
{
assert ( i<NumRows && j<NumCols );
return (x+j*NumRows+i);
inline double* MatrixRmn::GetPtr(long i, long j)
{
assert(i < NumRows && j < NumCols);
return (x + j * NumRows + i);
}
// Get a pointer to the j-th column.
// The entries are in column order.
// The entries are in column order.
// This version gives read-only pointer
inline const double* MatrixRmn::GetColumnPtr( long j ) const
{
assert ( 0<=j && j<NumCols );
return (x+j*NumRows);
inline const double* MatrixRmn::GetColumnPtr(long j) const
{
assert(0 <= j && j < NumCols);
return (x + j * NumRows);
}
// Get a pointer to the j-th column.
// This version gives pointer to writable data
inline double* MatrixRmn::GetColumnPtr( long j )
{
assert ( 0<=j && j<NumCols );
return (x+j*NumRows);
inline double* MatrixRmn::GetColumnPtr(long j)
{
assert(0 <= j && j < NumCols);
return (x + j * NumRows);
}
/// Get a pointer to the i-th row
// The entries are in column order.
// The entries are in column order.
// This version gives read-only pointer
inline const double* MatrixRmn::GetRowPtr( long i ) const
{
assert ( 0<=i && i<NumRows );
return (x+i);
inline const double* MatrixRmn::GetRowPtr(long i) const
{
assert(0 <= i && i < NumRows);
return (x + i);
}
// Get a pointer to the i-th row
// This version gives pointer to writable data
inline double* MatrixRmn::GetRowPtr( long i )
{
assert ( 0<=i && i<NumRows );
return (x+i);
inline double* MatrixRmn::GetRowPtr(long i)
{
assert(0 <= i && i < NumRows);
return (x + i);
}
// Set the (i,j) entry of the matrix
inline void MatrixRmn::Set( long i, long j, double val )
{
assert( i<NumRows && j<NumCols );
*(x+j*NumRows+i) = val;
inline void MatrixRmn::Set(long i, long j, double val)
{
assert(i < NumRows && j < NumCols);
*(x + j * NumRows + i) = val;
}
// Set the i-th triple in the j-th column to u's three values
inline void MatrixRmn::SetTriple( long i, long j, const VectorR3& u )
inline void MatrixRmn::SetTriple(long i, long j, const VectorR3& u)
{
long ii = 3*i;
assert ( 0<=i && ii+2<NumRows && 0<=j && j<NumCols );
u.Dump( x+j*NumRows + ii );
long ii = 3 * i;
assert(0 <= i && ii + 2 < NumRows && 0 <= j && j < NumCols);
u.Dump(x + j * NumRows + ii);
}
// Set to be equal to the identity matrix
inline void MatrixRmn::SetIdentity()
{
assert ( NumRows==NumCols );
assert(NumRows == NumCols);
SetZero();
SetDiagonalEntries(1.0);
}
inline MatrixRmn& MatrixRmn::operator*=( double mult )
inline MatrixRmn& MatrixRmn::operator*=(double mult)
{
double* aPtr = x;
for ( long i=NumRows*NumCols; i>0; i-- ) {
for (long i = NumRows * NumCols; i > 0; i--)
{
(*(aPtr++)) *= mult;
}
return (*this);
}
inline MatrixRmn& MatrixRmn::AddScaled( const MatrixRmn& B, double factor )
inline MatrixRmn& MatrixRmn::AddScaled(const MatrixRmn& B, double factor)
{
assert (NumRows==B.NumRows && NumCols==B.NumCols);
assert(NumRows == B.NumRows && NumCols == B.NumCols);
double* aPtr = x;
double* bPtr = B.x;
for ( long i=NumRows*NumCols; i>0; i-- ) {
(*(aPtr++)) += (*(bPtr++))*factor;
for (long i = NumRows * NumCols; i > 0; i--)
{
(*(aPtr++)) += (*(bPtr++)) * factor;
}
return (*this);
}
inline MatrixRmn& MatrixRmn::operator+=( const MatrixRmn& B )
inline MatrixRmn& MatrixRmn::operator+=(const MatrixRmn& B)
{
assert (NumRows==B.NumRows && NumCols==B.NumCols);
assert(NumRows == B.NumRows && NumCols == B.NumCols);
double* aPtr = x;
double* bPtr = B.x;
for ( long i=NumRows*NumCols; i>0; i-- ) {
for (long i = NumRows * NumCols; i > 0; i--)
{
(*(aPtr++)) += *(bPtr++);
}
return (*this);
}
inline MatrixRmn& MatrixRmn::operator-=( const MatrixRmn& B )
inline MatrixRmn& MatrixRmn::operator-=(const MatrixRmn& B)
{
assert (NumRows==B.NumRows && NumCols==B.NumCols);
assert(NumRows == B.NumRows && NumCols == B.NumCols);
double* aPtr = x;
double* bPtr = B.x;
for ( long i=NumRows*NumCols; i>0; i-- ) {
for (long i = NumRows * NumCols; i > 0; i--)
{
(*(aPtr++)) -= *(bPtr++);
}
return (*this);
@@ -363,18 +378,20 @@ inline double MatrixRmn::FrobeniusNormSq() const
{
double* aPtr = x;
double result = 0.0;
for ( long i=NumRows*NumCols; i>0; i-- ) {
result += Square( *(aPtr++) );
for (long i = NumRows * NumCols; i > 0; i--)
{
result += Square(*(aPtr++));
}
return result;
}
// Helper routine to calculate dot product
inline double MatrixRmn::DotArray( long length, const double* ptrA, long strideA, const double* ptrB, long strideB )
inline double MatrixRmn::DotArray(long length, const double* ptrA, long strideA, const double* ptrB, long strideB)
{
double result = 0.0;
for ( ; length>0 ; length-- ) {
result += (*ptrA)*(*ptrB);
for (; length > 0; length--)
{
result += (*ptrA) * (*ptrB);
ptrA += strideA;
ptrB += strideB;
}
@@ -382,26 +399,26 @@ inline double MatrixRmn::DotArray( long length, const double* ptrA, long strideA
}
// Helper routine: copies and scales an array (src and dest may be equal, or overlap)
inline void MatrixRmn::CopyArrayScale( long length, const double* from, long fromStride, double *to, long toStride, double scale )
inline void MatrixRmn::CopyArrayScale(long length, const double* from, long fromStride, double* to, long toStride, double scale)
{
for ( ; length>0; length-- ) {
*to = (*from)*scale;
for (; length > 0; length--)
{
*to = (*from) * scale;
from += fromStride;
to += toStride;
}
}
// Helper routine: adds a scaled array
// Helper routine: adds a scaled array
// fromArray = toArray*scale.
inline void MatrixRmn::AddArrayScale( long length, const double* from, long fromStride, double *to, long toStride, double scale )
inline void MatrixRmn::AddArrayScale(long length, const double* from, long fromStride, double* to, long toStride, double scale)
{
for ( ; length>0; length-- ) {
*to += (*from)*scale;
for (; length > 0; length--)
{
*to += (*from) * scale;
from += fromStride;
to += toStride;
}
}
#endif //MATRIX_RMN_H
#endif //MATRIX_RMN_H