Added factored_to_quadratic_rhs_only()

git-svn-id: http://www.openflipper.org/svnrepo/CoMISo/trunk@297 1355f012-dd97-4b2f-ae87-10fa9f823a57

CoMISo/Solver/GMM_Tools.cc

@@ -1008,6 +1008,28 @@ void factored_to_quadratic( MatrixT& _F, MatrixT2& _Q, VectorT& _rhs)
   _rhs.resize( n - 1);
   gmm::copy  ( Q, _Q);
 }
+  
+  
+//-----------------------------------------------------------------------------
+
+
+template<class MatrixT, class VectorT>
+void factored_to_quadratic_rhs_only( MatrixT& _F, VectorT& _rhs)
+{
+  unsigned int m = gmm::mat_nrows(_F);
+  unsigned int n = gmm::mat_ncols(_F);
+  
+  gmm::resize(_rhs, n);
+  
+  // compute quadratic matrix
+  MatrixT Q(n,n);
+  gmm::mult(gmm::transposed(_F),_F,Q);
+  
+  // extract rhs
+  gmm::copy( gmm::scaled(gmm::mat_const_row( Q, n - 1),-1.0), _rhs);
+  
+  _rhs.resize( n - 1);
+}
 
 
 //-----------------------------------------------------------------------------

CoMISo/Solver/GMM_Tools.hh

@@ -235,6 +235,9 @@ double residuum_norm( MatrixT& _A, VectorT& _x, VectorT& _rhs );
   * @param _rhs right hand side (output) */
 template<class MatrixT, class MatrixT2, class VectorT>
 void factored_to_quadratic( MatrixT& _F, MatrixT2& _Q, VectorT& _rhs);
+  
+template<class MatrixT, class VectorT>
+  void factored_to_quadratic_rhs_only( MatrixT& _F, VectorT& _rhs);
 
 
 /// Inspect the matrix (print)