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BOSL2/math.scad
Revar Desmera 0718bcb9be
Merge pull request #496 from adrianVmariano/master 
vnf_tri_array & bezier_patch_degenerate
2021-04-12 00:38:44 -07:00

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//////////////////////////////////////////////////////////////////////
// LibFile: math.scad
// Math helper functions.
// Includes:
// include <BOSL2/std.scad>
//////////////////////////////////////////////////////////////////////
// Section: Math Constants
// Constant: PHI
// Description: The golden ratio phi.
PHI = (1+sqrt(5))/2;
// Constant: EPSILON
// Description: A really small value useful in comparing floating point numbers. ie: abs(a-b)<EPSILON
EPSILON = 1e-9;
// Constant: INF
// Description: The value `inf`, useful for comparisons.
INF = 1/0;
// Constant: NAN
// Description: The value `nan`, useful for comparisons.
NAN = acos(2);
// Section: Simple math
// Function: sqr()
// Usage:
// sqr(x);
// Description:
// If given a number, returns the square of that number,
// If given a vector, returns the sum-of-squares/dot product of the vector elements.
// If given a matrix, returns the matrix multiplication of the matrix with itself.
// Examples:
// sqr(3); // Returns: 9
// sqr(-4); // Returns: 16
// sqr([2,3,4]); // Returns: 29
// sqr([[1,2],[3,4]]); // Returns [[7,10],[15,22]]
function sqr(x) =
assert(is_finite(x) || is_vector(x) || is_matrix(x), "Input is not a number nor a list of numbers.")
x*x;
// Function: log2()
// Usage:
// foo = log2(x);
// Description:
// Returns the logarithm base 2 of the value given.
// Examples:
// log2(0.125); // Returns: -3
// log2(16); // Returns: 4
// log2(256); // Returns: 8
function log2(x) =
assert( is_finite(x), "Input is not a number.")
ln(x)/ln(2);
// this may return NAN or INF; should it check x>0 ?
// Function: hypot()
// Usage:
// l = hypot(x,y,<z>);
// Description:
// Calculate hypotenuse length of a 2D or 3D triangle.
// Arguments:
// x = Length on the X axis.
// y = Length on the Y axis.
// z = Length on the Z axis. Optional.
// Example:
// l = hypot(3,4); // Returns: 5
// l = hypot(3,4,5); // Returns: ~7.0710678119
function hypot(x,y,z=0) =
assert( is_vector([x,y,z]), "Improper number(s).")
norm([x,y,z]);
// Function: factorial()
// Usage:
// x = factorial(n,<d>);
// Description:
// Returns the factorial of the given integer value, or n!/d! if d is given.
// Arguments:
// n = The integer number to get the factorial of. (n!)
// d = If given, the returned value will be (n! / d!)
// Example:
// x = factorial(4); // Returns: 24
// y = factorial(6); // Returns: 720
// z = factorial(9); // Returns: 362880
function factorial(n,d=0) =
assert(is_int(n) && is_int(d) && n>=0 && d>=0, "Factorial is defined only for non negative integers")
assert(d<=n, "d cannot be larger than n")
product([1,for (i=[n:-1:d+1]) i]);
// Function: binomial()
// Usage:
// x = binomial(n);
// Description:
// Returns the binomial coefficients of the integer `n`.
// Arguments:
// n = The integer to get the binomial coefficients of
// Example:
// x = binomial(3); // Returns: [1,3,3,1]
// y = binomial(4); // Returns: [1,4,6,4,1]
// z = binomial(6); // Returns: [1,6,15,20,15,6,1]
function binomial(n) =
assert( is_int(n) && n>0, "Input is not an integer greater than 0.")
[for( c = 1, i = 0;
i<=n;
c = c*(n-i)/(i+1), i = i+1
) c ] ;
// Function: binomial_coefficient()
// Usage:
// x = binomial_coefficient(n,k);
// Description:
// Returns the k-th binomial coefficient of the integer `n`.
// Arguments:
// n = The integer to get the binomial coefficient of
// k = The binomial coefficient index
// Example:
// x = binomial_coefficient(3,2); // Returns: 3
// y = binomial_coefficient(10,6); // Returns: 210
function binomial_coefficient(n,k) =
assert( is_int(n) && is_int(k), "Some input is not a number.")
k < 0 || k > n ? 0 :
k ==0 || k ==n ? 1 :
let( k = min(k, n-k),
b = [for( c = 1, i = 0;
i<=k;
c = c*(n-i)/(i+1), i = i+1
) c] )
b[len(b)-1];
// Function: lerp()
// Usage:
// x = lerp(a, b, u);
// l = lerp(a, b, LIST);
// Description:
// Interpolate between two values or vectors.
// If `u` is given as a number, returns the single interpolated value.
// If `u` is 0.0, then the value of `a` is returned.
// If `u` is 1.0, then the value of `b` is returned.
// If `u` is a range, or list of numbers, returns a list of interpolated values.
// It is valid to use a `u` value outside the range 0 to 1. The result will be an extrapolation
// along the slope formed by `a` and `b`.
// Arguments:
// a = First value or vector.
// b = Second value or vector.
// u = The proportion from `a` to `b` to calculate. Standard range is 0.0 to 1.0, inclusive. If given as a list or range of values, returns a list of results.
// Example:
// x = lerp(0,20,0.3); // Returns: 6
// x = lerp(0,20,0.8); // Returns: 16
// x = lerp(0,20,-0.1); // Returns: -2
// x = lerp(0,20,1.1); // Returns: 22
// p = lerp([0,0],[20,10],0.25); // Returns [5,2.5]
// l = lerp(0,20,[0.4,0.6]); // Returns: [8,12]
// l = lerp(0,20,[0.25:0.25:0.75]); // Returns: [5,10,15]
// Example(2D):
// p1 = [-50,-20]; p2 = [50,30];
// stroke([p1,p2]);
// pts = lerp(p1, p2, [0:1/8:1]);
// // Points colored in ROYGBIV order.
// rainbow(pts) translate($item) circle(d=3,$fn=8);
function lerp(a,b,u) =
assert(same_shape(a,b), "Bad or inconsistent inputs to lerp")
is_finite(u)? (1-u)*a + u*b :
assert(is_finite(u) || is_vector(u) || valid_range(u), "Input u to lerp must be a number, vector, or valid range.")
[for (v = u) (1-v)*a + v*b ];
// Function: lerpn()
// Usage:
// x = lerpn(a, b, n);
// x = lerpn(a, b, n, <endpoint>);
// Description:
// Returns exactly `n` values, linearly interpolated between `a` and `b`.
// If `endpoint` is true, then the last value will exactly equal `b`.
// If `endpoint` is false, then the last value will about `a+(b-a)*(1-1/n)`.
// Arguments:
// a = First value or vector.
// b = Second value or vector.
// n = The number of values to return.
// endpoint = If true, the last value will be exactly `b`. If false, the last value will be one step less.
// Examples:
// l = lerpn(-4,4,9); // Returns: [-4,-3,-2,-1,0,1,2,3,4]
// l = lerpn(-4,4,8,false); // Returns: [-4,-3,-2,-1,0,1,2,3]
// l = lerpn(0,1,6); // Returns: [0, 0.2, 0.4, 0.6, 0.8, 1]
// l = lerpn(0,1,5,false); // Returns: [0, 0.2, 0.4, 0.6, 0.8]
function lerpn(a,b,n,endpoint=true) =
assert(same_shape(a,b), "Bad or inconsistent inputs to lerp")
assert(is_int(n))
assert(is_bool(endpoint))
let( d = n - (endpoint? 1 : 0) )
[for (i=[0:1:n-1]) let(u=i/d) (1-u)*a + u*b];
// Section: Undef Safe Math
// Function: u_add()
// Usage:
// x = u_add(a, b);
// Description:
// Adds `a` to `b`, returning the result, or undef if either value is `undef`.
// This emulates the way undefs used to be handled in versions of OpenSCAD before 2020.
// Arguments:
// a = First value.
// b = Second value.
function u_add(a,b) = is_undef(a) || is_undef(b)? undef : a + b;
// Function: u_sub()
// Usage:
// x = u_sub(a, b);
// Description:
// Subtracts `b` from `a`, returning the result, or undef if either value is `undef`.
// This emulates the way undefs used to be handled in versions of OpenSCAD before 2020.
// Arguments:
// a = First value.
// b = Second value.
function u_sub(a,b) = is_undef(a) || is_undef(b)? undef : a - b;
// Function: u_mul()
// Usage:
// x = u_mul(a, b);
// Description:
// Multiplies `a` by `b`, returning the result, or undef if either value is `undef`.
// This emulates the way undefs used to be handled in versions of OpenSCAD before 2020.
// Arguments:
// a = First value.
// b = Second value.
function u_mul(a,b) =
is_undef(a) || is_undef(b)? undef :
is_vector(a) && is_vector(b)? vmul(a,b) :
a * b;
// Function: u_div()
// Usage:
// x = u_div(a, b);
// Description:
// Divides `a` by `b`, returning the result, or undef if either value is `undef`.
// This emulates the way undefs used to be handled in versions of OpenSCAD before 2020.
// Arguments:
// a = First value.
// b = Second value.
function u_div(a,b) =
is_undef(a) || is_undef(b)? undef :
is_vector(a) && is_vector(b)? vdiv(a,b) :
a / b;
// Section: Hyperbolic Trigonometry
// Function: sinh()
// Description: Takes a value `x`, and returns the hyperbolic sine of it.
function sinh(x) =
assert(is_finite(x), "The input must be a finite number.")
(exp(x)-exp(-x))/2;
// Function: cosh()
// Description: Takes a value `x`, and returns the hyperbolic cosine of it.
function cosh(x) =
assert(is_finite(x), "The input must be a finite number.")
(exp(x)+exp(-x))/2;
// Function: tanh()
// Description: Takes a value `x`, and returns the hyperbolic tangent of it.
function tanh(x) =
assert(is_finite(x), "The input must be a finite number.")
sinh(x)/cosh(x);
// Function: asinh()
// Description: Takes a value `x`, and returns the inverse hyperbolic sine of it.
function asinh(x) =
assert(is_finite(x), "The input must be a finite number.")
ln(x+sqrt(x*x+1));
// Function: acosh()
// Description: Takes a value `x`, and returns the inverse hyperbolic cosine of it.
function acosh(x) =
assert(is_finite(x), "The input must be a finite number.")
ln(x+sqrt(x*x-1));
// Function: atanh()
// Description: Takes a value `x`, and returns the inverse hyperbolic tangent of it.
function atanh(x) =
assert(is_finite(x), "The input must be a finite number.")
ln((1+x)/(1-x))/2;
// Section: Quantization
// Function: quant()
// Description:
// Quantize a value `x` to an integer multiple of `y`, rounding to the nearest multiple.
// If `x` is a list, then every item in that list will be recursively quantized.
// Arguments:
// x = The value to quantize.
// y = The multiple to quantize to.
// Example:
// quant(12,4); // Returns: 12
// quant(13,4); // Returns: 12
// quant(13.1,4); // Returns: 12
// quant(14,4); // Returns: 16
// quant(14.1,4); // Returns: 16
// quant(15,4); // Returns: 16
// quant(16,4); // Returns: 16
// quant(9,3); // Returns: 9
// quant(10,3); // Returns: 9
// quant(10.4,3); // Returns: 9
// quant(10.5,3); // Returns: 12
// quant(11,3); // Returns: 12
// quant(12,3); // Returns: 12
// quant([12,13,13.1,14,14.1,15,16],4); // Returns: [12,12,12,16,16,16,16]
// quant([9,10,10.4,10.5,11,12],3); // Returns: [9,9,9,12,12,12]
// quant([[9,10,10.4],[10.5,11,12]],3); // Returns: [[9,9,9],[12,12,12]]
function quant(x,y) =
assert(is_finite(y) && !approx(y,0,eps=1e-24), "The multiple must be a non zero number.")
is_list(x)
? [for (v=x) quant(v,y)]
: assert( is_finite(x), "The input to quantize must be a number or a list of numbers.")
floor(x/y+0.5)*y;
// Function: quantdn()
// Description:
// Quantize a value `x` to an integer multiple of `y`, rounding down to the previous multiple.
// If `x` is a list, then every item in that list will be recursively quantized down.
// Arguments:
// x = The value to quantize.
// y = The multiple to quantize to.
// Examples:
// quantdn(12,4); // Returns: 12
// quantdn(13,4); // Returns: 12
// quantdn(13.1,4); // Returns: 12
// quantdn(14,4); // Returns: 12
// quantdn(14.1,4); // Returns: 12
// quantdn(15,4); // Returns: 12
// quantdn(16,4); // Returns: 16
// quantdn(9,3); // Returns: 9
// quantdn(10,3); // Returns: 9
// quantdn(10.4,3); // Returns: 9
// quantdn(10.5,3); // Returns: 9
// quantdn(11,3); // Returns: 9
// quantdn(12,3); // Returns: 12
// quantdn([12,13,13.1,14,14.1,15,16],4); // Returns: [12,12,12,12,12,12,16]
// quantdn([9,10,10.4,10.5,11,12],3); // Returns: [9,9,9,9,9,12]
// quantdn([[9,10,10.4],[10.5,11,12]],3); // Returns: [[9,9,9],[9,9,12]]
function quantdn(x,y) =
assert(is_finite(y) && !approx(y,0,eps=1e-24), "The multiple must be a non zero number.")
is_list(x)
? [for (v=x) quantdn(v,y)]
: assert( is_finite(x), "The input to quantize must be a number or a list of numbers.")
floor(x/y)*y;
// Function: quantup()
// Description:
// Quantize a value `x` to an integer multiple of `y`, rounding up to the next multiple.
// If `x` is a list, then every item in that list will be recursively quantized up.
// Arguments:
// x = The value to quantize.
// y = The multiple to quantize to.
// Examples:
// quantup(12,4); // Returns: 12
// quantup(13,4); // Returns: 16
// quantup(13.1,4); // Returns: 16
// quantup(14,4); // Returns: 16
// quantup(14.1,4); // Returns: 16
// quantup(15,4); // Returns: 16
// quantup(16,4); // Returns: 16
// quantup(9,3); // Returns: 9
// quantup(10,3); // Returns: 12
// quantup(10.4,3); // Returns: 12
// quantup(10.5,3); // Returns: 12
// quantup(11,3); // Returns: 12
// quantup(12,3); // Returns: 12
// quantup([12,13,13.1,14,14.1,15,16],4); // Returns: [12,16,16,16,16,16,16]
// quantup([9,10,10.4,10.5,11,12],3); // Returns: [9,12,12,12,12,12]
// quantup([[9,10,10.4],[10.5,11,12]],3); // Returns: [[9,12,12],[12,12,12]]
function quantup(x,y) =
assert(is_finite(y) && !approx(y,0,eps=1e-24), "The multiple must be a non zero number.")
is_list(x)
? [for (v=x) quantup(v,y)]
: assert( is_finite(x), "The input to quantize must be a number or a list of numbers.")
ceil(x/y)*y;
// Section: Constraints and Modulos
// Function: constrain()
// Usage:
// constrain(v, minval, maxval);
// Description:
// Constrains value to a range of values between minval and maxval, inclusive.
// Arguments:
// v = value to constrain.
// minval = minimum value to return, if out of range.
// maxval = maximum value to return, if out of range.
// Example:
// constrain(-5, -1, 1); // Returns: -1
// constrain(5, -1, 1); // Returns: 1
// constrain(0.3, -1, 1); // Returns: 0.3
// constrain(9.1, 0, 9); // Returns: 9
// constrain(-0.1, 0, 9); // Returns: 0
function constrain(v, minval, maxval) =
assert( is_finite(v+minval+maxval), "Input must be finite number(s).")
min(maxval, max(minval, v));
// Function: posmod()
// Usage:
// posmod(x,m)
// Description:
// Returns the positive modulo `m` of `x`. Value returned will be in the range 0 ... `m`-1.
// Arguments:
// x = The value to constrain.
// m = Modulo value.
// Example:
// posmod(-700,360); // Returns: 340
// posmod(-270,360); // Returns: 90
// posmod(-120,360); // Returns: 240
// posmod(120,360); // Returns: 120
// posmod(270,360); // Returns: 270
// posmod(700,360); // Returns: 340
// posmod(3,2.5); // Returns: 0.5
function posmod(x,m) =
assert( is_finite(x) && is_finite(m) && !approx(m,0) , "Input must be finite numbers. The divisor cannot be zero.")
(x%m+m)%m;
// Function: modang()
// Usage:
// ang = modang(x)
// Description:
// Takes an angle in degrees and normalizes it to an equivalent angle value between -180 and 180.
// Example:
// modang(-700,360); // Returns: 20
// modang(-270,360); // Returns: 90
// modang(-120,360); // Returns: -120
// modang(120,360); // Returns: 120
// modang(270,360); // Returns: -90
// modang(700,360); // Returns: -20
function modang(x) =
assert( is_finite(x), "Input must be a finite number.")
let(xx = posmod(x,360)) xx<180? xx : xx-360;
// Section: Random Number Generation
// Function: rand_int()
// Usage:
// rand_int(minval,maxval,N,<seed>);
// Description:
// Return a list of random integers in the range of minval to maxval, inclusive.
// Arguments:
// minval = Minimum integer value to return.
// maxval = Maximum integer value to return.
// N = Number of random integers to return.
// seed = If given, sets the random number seed.
// Example:
// ints = rand_int(0,100,3);
// int = rand_int(-10,10,1)[0];
function rand_int(minval, maxval, N, seed=undef) =
assert( is_finite(minval+maxval+N) && (is_undef(seed) || is_finite(seed) ), "Input must be finite numbers.")
assert(maxval >= minval, "Max value cannot be smaller than minval")
let (rvect = is_def(seed) ? rands(minval,maxval+1,N,seed) : rands(minval,maxval+1,N))
[for(entry = rvect) floor(entry)];
// Function: gaussian_rands()
// Usage:
// gaussian_rands(mean, stddev, <N>, <seed>)
// Description:
// Returns a random number with a gaussian/normal distribution.
// Arguments:
// mean = The average random number returned.
// stddev = The standard deviation of the numbers to be returned.
// N = Number of random numbers to return. Default: 1
// seed = If given, sets the random number seed.
function gaussian_rands(mean, stddev, N=1, seed=undef) =
assert( is_finite(mean+stddev+N) && (is_undef(seed) || is_finite(seed) ), "Input must be finite numbers.")
let(nums = is_undef(seed)? rands(0,1,N*2) : rands(0,1,N*2,seed))
[for (i = count(N,0,2)) mean + stddev*sqrt(-2*ln(nums[i]))*cos(360*nums[i+1])];
// Function: log_rands()
// Usage:
// log_rands(minval, maxval, factor, <N>, <seed>);
// Description:
// Returns a single random number, with a logarithmic distribution.
// Arguments:
// minval = Minimum value to return.
// maxval = Maximum value to return. `minval` <= X < `maxval`.
// factor = Log factor to use. Values of X are returned `factor` times more often than X+1.
// N = Number of random numbers to return. Default: 1
// seed = If given, sets the random number seed.
function log_rands(minval, maxval, factor, N=1, seed=undef) =
assert( is_finite(minval+maxval+N)
&& (is_undef(seed) || is_finite(seed) )
&& factor>0,
"Input must be finite numbers. `factor` should be greater than zero.")
assert(maxval >= minval, "maxval cannot be smaller than minval")
let(
minv = 1-1/pow(factor,minval),
maxv = 1-1/pow(factor,maxval),
nums = is_undef(seed)? rands(minv, maxv, N) : rands(minv, maxv, N, seed)
) [for (num=nums) -ln(1-num)/ln(factor)];
// Section: GCD/GCF, LCM
// Function: gcd()
// Usage:
// gcd(a,b)
// Description:
// Computes the Greatest Common Divisor/Factor of `a` and `b`.
function gcd(a,b) =
assert(is_int(a) && is_int(b),"Arguments to gcd must be integers")
b==0 ? abs(a) : gcd(b,a % b);
// Computes lcm for two integers
function _lcm(a,b) =
assert(is_int(a) && is_int(b), "Invalid non-integer parameters to lcm")
assert(a!=0 && b!=0, "Arguments to lcm must be non zero")
abs(a*b) / gcd(a,b);
// Computes lcm for a list of values
function _lcmlist(a) =
len(a)==1 ? a[0] :
_lcmlist(concat(lcm(a[0],a[1]),list_tail(a,2)));
// Function: lcm()
// Usage:
// lcm(a,b)
// lcm(list)
// Description:
// Computes the Least Common Multiple of the two arguments or a list of arguments. Inputs should
// be non-zero integers. The output is always a positive integer. It is an error to pass zero
// as an argument.
function lcm(a,b=[]) =
!is_list(a) && !is_list(b)
? _lcm(a,b)
: let( arglist = concat(force_list(a),force_list(b)) )
assert(len(arglist)>0, "Invalid call to lcm with empty list(s)")
_lcmlist(arglist);
// Section: Sums, Products, Aggregate Functions.
// Function: sum()
// Usage:
// x = sum(v, <dflt>);
// Description:
// Returns the sum of all entries in the given consistent list.
// If passed an array of vectors, returns the sum the vectors.
// If passed an array of matrices, returns the sum of the matrices.
// If passed an empty list, the value of `dflt` will be returned.
// Arguments:
// v = The list to get the sum of.
// dflt = The default value to return if `v` is an empty list. Default: 0
// Example:
// sum([1,2,3]); // returns 6.
// sum([[1,2,3], [3,4,5], [5,6,7]]); // returns [9, 12, 15]
function sum(v, dflt=0) =
v==[]? dflt :
assert(is_consistent(v), "Input to sum is non-numeric or inconsistent")
is_vector(v) || is_matrix(v) ? [for(i=v) 1]*v :
_sum(v,v[0]*0);
function _sum(v,_total,_i=0) = _i>=len(v) ? _total : _sum(v,_total+v[_i], _i+1);
// Function: cumsum()
// Usage:
// sums = cumsum(v);
// Description:
// Returns a list where each item is the cumulative sum of all items up to and including the corresponding entry in the input list.
// If passed an array of vectors, returns a list of cumulative vectors sums.
// Arguments:
// v = The list to get the sum of.
// Example:
// cumsum([1,1,1]); // returns [1,2,3]
// cumsum([2,2,2]); // returns [2,4,6]
// cumsum([1,2,3]); // returns [1,3,6]
// cumsum([[1,2,3], [3,4,5], [5,6,7]]); // returns [[1,2,3], [4,6,8], [9,12,15]]
function cumsum(v) =
assert(is_consistent(v), "The input is not consistent." )
_cumsum(v,_i=0,_acc=[]);
function _cumsum(v,_i=0,_acc=[]) =
_i==len(v) ? _acc :
_cumsum(
v, _i+1,
concat(
_acc,
[_i==0 ? v[_i] : last(_acc) + v[_i]]
)
);
// Function: sum_of_sines()
// Usage:
// sum_of_sines(a,sines)
// Description:
// Gives the sum of a series of sines, at a given angle.
// Arguments:
// a = Angle to get the value for.
// sines = List of [amplitude, frequency, offset] items, where the frequency is the number of times the cycle repeats around the circle.
// Examples:
// v = sum_of_sines(30, [[10,3,0], [5,5.5,60]]);
function sum_of_sines(a, sines) =
assert( is_finite(a) && is_matrix(sines,undef,3), "Invalid input.")
sum([ for (s = sines)
let(
ss=point3d(s),
v=ss[0]*sin(a*ss[1]+ss[2])
) v
]);
// Function: deltas()
// Usage:
// delts = deltas(v);
// Description:
// Returns a list with the deltas of adjacent entries in the given list.
// The list should be a consistent list of numeric components (numbers, vectors, matrix, etc).
// Given [a,b,c,d], returns [b-a,c-b,d-c].
// Arguments:
// v = The list to get the deltas of.
// Example:
// deltas([2,5,9,17]); // returns [3,4,8].
// deltas([[1,2,3], [3,6,8], [4,8,11]]); // returns [[2,4,5], [1,2,3]]
function deltas(v) =
assert( is_consistent(v) && len(v)>1 , "Inconsistent list or with length<=1.")
[for (p=pair(v)) p[1]-p[0]] ;
// Function: product()
// Usage:
// x = product(v);
// Description:
// Returns the product of all entries in the given list.
// If passed a list of vectors of same dimension, returns a vector of products of each part.
// If passed a list of square matrices, returns the resulting product matrix.
// Arguments:
// v = The list to get the product of.
// Example:
// product([2,3,4]); // returns 24.
// product([[1,2,3], [3,4,5], [5,6,7]]); // returns [15, 48, 105]
function product(v) =
assert( is_vector(v) || is_matrix(v) || ( is_matrix(v[0],square=true) && is_consistent(v)),
"Invalid input.")
_product(v, 1, v[0]);
function _product(v, i=0, _tot) =
i>=len(v) ? _tot :
_product( v,
i+1,
( is_vector(v[i])? vmul(_tot,v[i]) : _tot*v[i] ) );
// Function: cumprod()
// Description:
// Returns a list where each item is the cumulative product of all items up to and including the corresponding entry in the input list.
// If passed an array of vectors, returns a list of elementwise vector products. If passed a list of square matrices returns matrix
// products multiplying in the order items appear in the list.
// Arguments:
// list = The list to get the product of.
// Example:
// cumprod([1,3,5]); // returns [1,3,15]
// cumprod([2,2,2]); // returns [2,4,8]
// cumprod([[1,2,3], [3,4,5], [5,6,7]])); // returns [[1, 2, 3], [3, 8, 15], [15, 48, 105]]
function cumprod(list) =
is_vector(list) ? _cumprod(list) :
assert(is_consistent(list), "Input must be a consistent list of scalars, vectors or square matrices")
is_matrix(list[0]) ? assert(len(list[0])==len(list[0][0]), "Matrices must be square") _cumprod(list)
: _cumprod_vec(list);
function _cumprod(v,_i=0,_acc=[]) =
_i==len(v) ? _acc :
_cumprod(
v, _i+1,
concat(
_acc,
[_i==0 ? v[_i] : _acc[len(_acc)-1]*v[_i]]
)
);
function _cumprod_vec(v,_i=0,_acc=[]) =
_i==len(v) ? _acc :
_cumprod_vec(
v, _i+1,
concat(
_acc,
[_i==0 ? v[_i] : vmul(_acc[len(_acc)-1],v[_i])]
)
);
// Function: outer_product()
// Usage:
// x = outer_product(u,v);
// Description:
// Compute the outer product of two vectors, a matrix.
// Usage:
// M = outer_product(u,v);
function outer_product(u,v) =
assert(is_vector(u) && is_vector(v), "The inputs must be vectors.")
[for(ui=u) ui*v];
// Function: mean()
// Usage:
// x = mean(v);
// Description:
// Returns the arithmetic mean/average of all entries in the given array.
// If passed a list of vectors, returns a vector of the mean of each part.
// Arguments:
// v = The list of values to get the mean of.
// Example:
// mean([2,3,4]); // returns 3.
// mean([[1,2,3], [3,4,5], [5,6,7]]); // returns [3, 4, 5]
function mean(v) =
assert(is_list(v) && len(v)>0, "Invalid list.")
sum(v)/len(v);
// Function: convolve()
// Usage:
// x = convolve(p,q);
// Description:
// Given two vectors, finds the convolution of them.
// The length of the returned vector is len(p)+len(q)-1 .
// Arguments:
// p = The first vector.
// q = The second vector.
// Example:
// a = convolve([1,1],[1,2,1]); // Returns: [1,3,3,1]
// b = convolve([1,2,3],[1,2,1])); // Returns: [1,4,8,8,3]
function convolve(p,q) =
p==[] || q==[] ? [] :
assert( is_vector(p) && is_vector(q), "The inputs should be vectors.")
let( n = len(p),
m = len(q))
[for(i=[0:n+m-2], k1 = max(0,i-n+1), k2 = min(i,m-1) )
[for(j=[k1:k2]) p[i-j] ] * [for(j=[k1:k2]) q[j] ]
];
// Section: Matrix math
// Function: linear_solve()
// Usage:
// solv = linear_solve(A,b)
// Description:
// Solves the linear system Ax=b. If `A` is square and non-singular the unique solution is returned. If `A` is overdetermined
// the least squares solution is returned. If `A` is underdetermined, the minimal norm solution is returned.
// If `A` is rank deficient or singular then linear_solve returns `[]`. If `b` is a matrix that is compatible with `A`
// then the problem is solved for the matrix valued right hand side and a matrix is returned. Note that if you
// want to solve Ax=b1 and Ax=b2 that you need to form the matrix `transpose([b1,b2])` for the right hand side and then
// transpose the returned value.
function linear_solve(A,b,pivot=true) =
assert(is_matrix(A), "Input should be a matrix.")
let(
m = len(A),
n = len(A[0])
)
assert(is_vector(b,m) || is_matrix(b,m),"Invalid right hand side or incompatible with the matrix")
let (
qr = m<n? qr_factor(transpose(A),pivot) : qr_factor(A,pivot),
maxdim = max(n,m),
mindim = min(n,m),
Q = submatrix(qr[0],[0:maxdim-1], [0:mindim-1]),
R = submatrix(qr[1],[0:mindim-1], [0:mindim-1]),
P = qr[2],
zeros = [for(i=[0:mindim-1]) if (approx(R[i][i],0)) i]
)
zeros != [] ? [] :
m<n ? Q*back_substitute(R,transpose(P)*b,transpose=true) // Too messy to avoid input checks here
: P*_back_substitute(R, transpose(Q)*b); // Calling internal version skips input checks
// Function: matrix_inverse()
// Usage:
// mat = matrix_inverse(A)
// Description:
// Compute the matrix inverse of the square matrix `A`. If `A` is singular, returns `undef`.
// Note that if you just want to solve a linear system of equations you should NOT use this function.
// Instead use [[`linear_solve()`|linear_solve]], or use [[`qr_factor()`|qr_factor]]. The computation
// will be faster and more accurate.
function matrix_inverse(A) =
assert(is_matrix(A) && len(A)==len(A[0]),"Input to matrix_inverse() must be a square matrix")
linear_solve(A,ident(len(A)));
// Function: null_space()
// Usage:
// x = null_space(A)
// Description:
// Returns an orthonormal basis for the null space of `A`, namely the vectors {x} such that Ax=0.
// If the null space is just the origin then returns an empty list.
function null_space(A,eps=1e-12) =
assert(is_matrix(A))
let(
Q_R = qr_factor(transpose(A),pivot=true),
R = Q_R[1],
zrow = [for(i=idx(R)) if (all_zero(R[i],eps)) i]
)
len(zrow)==0 ? [] :
transpose(subindex(Q_R[0],zrow));
// Function: qr_factor()
// Usage:
// qr = qr_factor(A,[pivot]);
// Description:
// Calculates the QR factorization of the input matrix A and returns it as the list [Q,R,P]. This factorization can be
// used to solve linear systems of equations. The factorization is A = Q*R*transpose(P). If pivot is false (the default)
// then P is the identity matrix and A = Q*R. If pivot is true then column pivoting results in an R matrix where the diagonal
// is non-decreasing. The use of pivoting is supposed to increase accuracy for poorly conditioned problems, and is necessary
// for rank estimation or computation of the null space, but it may be slower.
function qr_factor(A, pivot=false) =
assert(is_matrix(A), "Input must be a matrix." )
let(
m = len(A),
n = len(A[0])
)
let(
qr = _qr_factor(A, Q=ident(m),P=ident(n), pivot=pivot, column=0, m = m, n=n),
Rzero = let( R = qr[1]) [
for(i=[0:m-1]) [
let( ri = R[i] )
for(j=[0:n-1]) i>j ? 0 : ri[j]
]
]
) [qr[0], Rzero, qr[2]];
function _qr_factor(A,Q,P, pivot, column, m, n) =
column >= min(m-1,n) ? [Q,A,P] :
let(
swap = !pivot ? 1
: _swap_matrix(n,column,column+max_index([for(i=[column:n-1]) sqr([for(j=[column:m-1]) A[j][i]])])),
A = pivot ? A*swap : A,
x = [for(i=[column:1:m-1]) A[i][column]],
alpha = (x[0]<=0 ? 1 : -1) * norm(x),
u = x - concat([alpha],repeat(0,m-1)),
v = alpha==0 ? u : u / norm(u),
Qc = ident(len(x)) - 2*outer_product(v,v),
Qf = [for(i=[0:m-1]) [for(j=[0:m-1]) i<column || j<column ? (i==j ? 1 : 0) : Qc[i-column][j-column]]]
)
_qr_factor(Qf*A, Q*Qf, P*swap, pivot, column+1, m, n);
// Produces an n x n matrix that swaps column i and j (when multiplied on the right)
function _swap_matrix(n,i,j) =
assert(i<n && j<n && i>=0 && j>=0, "Swap indices out of bounds")
[for(y=[0:n-1]) [for (x=[0:n-1])
x==i ? (y==j ? 1 : 0)
: x==j ? (y==i ? 1 : 0)
: x==y ? 1 : 0]];
// Function: back_substitute()
// Usage:
// x = back_substitute(R, b, <transpose>);
// Description:
// Solves the problem Rx=b where R is an upper triangular square matrix. The lower triangular entries of R are
// ignored. If transpose==true then instead solve transpose(R)*x=b.
// You can supply a compatible matrix b and it will produce the solution for every column of b. Note that if you want to
// solve Rx=b1 and Rx=b2 you must set b to transpose([b1,b2]) and then take the transpose of the result. If the matrix
// is singular (e.g. has a zero on the diagonal) then it returns [].
function back_substitute(R, b, transpose = false) =
assert(is_matrix(R, square=true))
let(n=len(R))
assert(is_vector(b,n) || is_matrix(b,n),str("R and b are not compatible in back_substitute ",n, len(b)))
transpose
? reverse(_back_substitute(transpose(R, reverse=true), reverse(b)))
: _back_substitute(R,b);
function _back_substitute(R, b, x=[]) =
let(n=len(R))
len(x) == n ? x
: let(ind = n - len(x) - 1)
R[ind][ind] == 0 ? []
: let(
newvalue = len(x)==0
? b[ind]/R[ind][ind]
: (b[ind]-list_tail(R[ind],ind+1) * x)/R[ind][ind]
)
_back_substitute(R, b, concat([newvalue],x));
// Function: det2()
// Usage:
// d = det2(M);
// Description:
// Optimized function that returns the determinant for the given 2x2 square matrix.
// Arguments:
// M = The 2x2 square matrix to get the determinant of.
// Example:
// M = [ [6,-2], [1,8] ];
// det = det2(M); // Returns: 50
function det2(M) =
assert(is_matrix(M,2,2), "Matrix must be 2x2.")
M[0][0] * M[1][1] - M[0][1]*M[1][0];
// Function: det3()
// Usage:
// d = det3(M);
// Description:
// Optimized function that returns the determinant for the given 3x3 square matrix.
// Arguments:
// M = The 3x3 square matrix to get the determinant of.
// Example:
// M = [ [6,4,-2], [1,-2,8], [1,5,7] ];
// det = det3(M); // Returns: -334
function det3(M) =
assert(is_matrix(M,3,3), "Matrix must be 3x3.")
M[0][0] * (M[1][1]*M[2][2]-M[2][1]*M[1][2]) -
M[1][0] * (M[0][1]*M[2][2]-M[2][1]*M[0][2]) +
M[2][0] * (M[0][1]*M[1][2]-M[1][1]*M[0][2]);
// Function: determinant()
// Usage:
// d = determinant(M);
// Description:
// Returns the determinant for the given square matrix.
// Arguments:
// M = The NxN square matrix to get the determinant of.
// Example:
// M = [ [6,4,-2,9], [1,-2,8,3], [1,5,7,6], [4,2,5,1] ];
// det = determinant(M); // Returns: 2267
function determinant(M) =
assert(is_matrix(M, square=true), "Input should be a square matrix." )
len(M)==1? M[0][0] :
len(M)==2? det2(M) :
len(M)==3? det3(M) :
sum(
[for (col=[0:1:len(M)-1])
((col%2==0)? 1 : -1) *
M[col][0] *
determinant(
[for (r=[1:1:len(M)-1])
[for (c=[0:1:len(M)-1])
if (c!=col) M[c][r]
]
]
)
]
);
// Function: is_matrix()
// Usage:
// is_matrix(A,<m>,<n>,<square>)
// Description:
// Returns true if A is a numeric matrix of height m and width n. If m or n
// are omitted or set to undef then true is returned for any positive dimension.
// Arguments:
// A = The matrix to test.
// m = Is given, requires the matrix to have the given height.
// n = Is given, requires the matrix to have the given width.
// square = If true, requires the matrix to have a width equal to its height. Default: false
function is_matrix(A,m,n,square=false) =
is_list(A)
&& (( is_undef(m) && len(A) ) || len(A)==m)
&& (!square || len(A) == len(A[0]))
&& is_vector(A[0],n)
&& is_consistent(A);
// Function: norm_fro()
// Usage:
// norm_fro(A)
// Description:
// Computes frobenius norm of input matrix. The frobenius norm is the square root of the sum of the
// squares of all of the entries of the matrix. On vectors it is the same as the usual 2-norm.
// This is an easily computed norm that is convenient for comparing two matrices.
function norm_fro(A) =
assert(is_matrix(A) || is_vector(A))
norm(flatten(A));
// Function: matrix_trace()
// Usage:
// matrix_trace(M)
// Description:
// Computes the trace of a square matrix, the sum of the entries on the diagonal.
function matrix_trace(M) =
assert(is_matrix(M,square=true), "Input to trace must be a square matrix")
[for(i=[0:1:len(M)-1])1] * [for(i=[0:1:len(M)-1]) M[i][i]];
// Section: Comparisons and Logic
// Function: all_zero()
// Usage:
// x = all_zero(x, <eps>);
// Description:
// Returns true if the finite number passed to it is approximately zero, to within `eps`.
// If passed a list, recursively checks if all items in the list are approximately zero.
// Otherwise, returns false.
// Arguments:
// x = The value to check.
// eps = The maximum allowed variance. Default: `EPSILON` (1e-9)
// Example:
// all_zero(0); // Returns: true.
// all_zero(1e-3); // Returns: false.
// all_zero([0,0,0]); // Returns: true.
// all_zero([0,0,1e-3]); // Returns: false.
function all_zero(x, eps=EPSILON) =
is_finite(x)? approx(x,eps) :
is_list(x)? (x != [] && [for (xx=x) if(!all_zero(xx,eps=eps)) 1] == []) :
false;
// Function: all_nonzero()
// Usage:
// x = all_nonzero(x, <eps>);
// Description:
// Returns true if the finite number passed to it is not almost zero, to within `eps`.
// If passed a list, recursively checks if all items in the list are not almost zero.
// Otherwise, returns false.
// Arguments:
// x = The value to check.
// eps = The maximum allowed variance. Default: `EPSILON` (1e-9)
// Example:
// all_nonzero(0); // Returns: false.
// all_nonzero(1e-3); // Returns: true.
// all_nonzero([0,0,0]); // Returns: false.
// all_nonzero([0,0,1e-3]); // Returns: false.
// all_nonzero([1e-3,1e-3,1e-3]); // Returns: true.
function all_nonzero(x, eps=EPSILON) =
is_finite(x)? !approx(x,eps) :
is_list(x)? (x != [] && [for (xx=x) if(!all_nonzero(xx,eps=eps)) 1] == []) :
false;
// Function: all_positive()
// Usage:
// all_positive(x);
// Description:
// Returns true if the finite number passed to it is greater than zero.
// If passed a list, recursively checks if all items in the list are positive.
// Otherwise, returns false.
// Arguments:
// x = The value to check.
// Example:
// all_positive(-2); // Returns: false.
// all_positive(0); // Returns: false.
// all_positive(2); // Returns: true.
// all_positive([0,0,0]); // Returns: false.
// all_positive([0,1,2]); // Returns: false.
// all_positive([3,1,2]); // Returns: true.
// all_positive([3,-1,2]); // Returns: false.
function all_positive(x) =
is_num(x)? x>0 :
is_list(x)? (x != [] && [for (xx=x) if(!all_positive(xx)) 1] == []) :
false;
// Function: all_negative()
// Usage:
// all_negative(x);
// Description:
// Returns true if the finite number passed to it is less than zero.
// If passed a list, recursively checks if all items in the list are negative.
// Otherwise, returns false.
// Arguments:
// x = The value to check.
// Example:
// all_negative(-2); // Returns: true.
// all_negative(0); // Returns: false.
// all_negative(2); // Returns: false.
// all_negative([0,0,0]); // Returns: false.
// all_negative([0,1,2]); // Returns: false.
// all_negative([3,1,2]); // Returns: false.
// all_negative([3,-1,2]); // Returns: false.
// all_negative([-3,-1,-2]); // Returns: true.
function all_negative(x) =
is_num(x)? x<0 :
is_list(x)? (x != [] && [for (xx=x) if(!all_negative(xx)) 1] == []) :
false;
// Function: all_nonpositive()
// Usage:
// all_nonpositive(x);
// Description:
// Returns true if the finite number passed to it is less than or equal to zero.
// If passed a list, recursively checks if all items in the list are nonpositive.
// Otherwise, returns false.
// Arguments:
// x = The value to check.
// Example:
// all_nonpositive(-2); // Returns: true.
// all_nonpositive(0); // Returns: true.
// all_nonpositive(2); // Returns: false.
// all_nonpositive([0,0,0]); // Returns: true.
// all_nonpositive([0,1,2]); // Returns: false.
// all_nonpositive([3,1,2]); // Returns: false.
// all_nonpositive([3,-1,2]); // Returns: false.
// all_nonpositive([-3,-1,-2]); // Returns: true.
function all_nonpositive(x) =
is_num(x)? x<=0 :
is_list(x)? (x != [] && [for (xx=x) if(!all_nonpositive(xx)) 1] == []) :
false;
// Function: all_nonnegative()
// Usage:
// all_nonnegative(x);
// Description:
// Returns true if the finite number passed to it is greater than or equal to zero.
// If passed a list, recursively checks if all items in the list are nonnegative.
// Otherwise, returns false.
// Arguments:
// x = The value to check.
// Example:
// all_nonnegative(-2); // Returns: false.
// all_nonnegative(0); // Returns: true.
// all_nonnegative(2); // Returns: true.
// all_nonnegative([0,0,0]); // Returns: true.
// all_nonnegative([0,1,2]); // Returns: true.
// all_nonnegative([0,-1,-2]); // Returns: false.
// all_nonnegative([3,1,2]); // Returns: true.
// all_nonnegative([3,-1,2]); // Returns: false.
// all_nonnegative([-3,-1,-2]); // Returns: false.
function all_nonnegative(x) =
is_num(x)? x>=0 :
is_list(x)? (x != [] && [for (xx=x) if(!all_nonnegative(xx)) 1] == []) :
false;
// Function all_equal()
// Usage:
// b = all_equal(vec,<eps>);
// Description:
// Returns true if all of the entries in vec are equal to each other, or approximately equal to each other if eps is set.
// Arguments:
// vec = vector to check
// eps = Set to tolerance for approximate equality. Default: 0
function all_equal(vec,eps=0) =
eps==0 ? [for(v=vec) if (v!=vec[0]) v] == []
: [for(v=vec) if (!approx(v,vec[0])) v] == [];
// Function: approx()
// Usage:
// b = approx(a,b,<eps>)
// Description:
// Compares two numbers or vectors, and returns true if they are closer than `eps` to each other.
// Arguments:
// a = First value.
// b = Second value.
// eps = The maximum allowed difference between `a` and `b` that will return true.
// Example:
// approx(-0.3333333333,-1/3); // Returns: true
// approx(0.3333333333,1/3); // Returns: true
// approx(0.3333,1/3); // Returns: false
// approx(0.3333,1/3,eps=1e-3); // Returns: true
// approx(PI,3.1415926536); // Returns: true
function approx(a,b,eps=EPSILON) =
(a==b && is_bool(a) == is_bool(b)) ||
(is_num(a) && is_num(b) && abs(a-b) <= eps) ||
(is_list(a) && is_list(b) && len(a) == len(b) && [] == [for (i=idx(a)) if (!approx(a[i],b[i],eps=eps)) 1]);
function _type_num(x) =
is_undef(x)? 0 :
is_bool(x)? 1 :
is_num(x)? 2 :
is_nan(x)? 3 :
is_string(x)? 4 :
is_list(x)? 5 : 6;
// Function: compare_vals()
// Usage:
// b = compare_vals(a, b);
// Description:
// Compares two values. Lists are compared recursively.
// Returns <0 if a<b. Returns >0 if a>b. Returns 0 if a==b.
// If types are not the same, then undef < bool < nan < num < str < list < range.
// Arguments:
// a = First value to compare.
// b = Second value to compare.
function compare_vals(a, b) =
(a==b)? 0 :
let(t1=_type_num(a), t2=_type_num(b)) (t1!=t2)? (t1-t2) :
is_list(a)? compare_lists(a,b) :
is_nan(a)? 0 :
(a<b)? -1 : (a>b)? 1 : 0;
// Function: compare_lists()
// Usage:
// b = compare_lists(a, b)
// Description:
// Compare contents of two lists using `compare_vals()`.
// Returns <0 if `a`<`b`.
// Returns 0 if `a`==`b`.
// Returns >0 if `a`>`b`.
// Arguments:
// a = First list to compare.
// b = Second list to compare.
function compare_lists(a, b) =
a==b? 0 :
let(
cmps = [
for (i = [0:1:min(len(a),len(b))-1])
let( cmp = compare_vals(a[i],b[i]) )
if (cmp!=0) cmp
]
)
cmps==[]? (len(a)-len(b)) : cmps[0];
// Function: any()
// Usage:
// b = any(l);
// b = any(l,func);
// Description:
// Returns true if any item in list `l` evaluates as true.
// Arguments:
// l = The list to test for true items.
// func = An optional function literal of signature (x), returning bool, to test each list item with.
// Example:
// any([0,false,undef]); // Returns false.
// any([1,false,undef]); // Returns true.
// any([1,5,true]); // Returns true.
// any([[0,0], [0,0]]); // Returns true.
// any([[0,0], [1,0]]); // Returns true.
function any(l, func) =
assert(is_list(l), "The input is not a list." )
assert(func==undef || is_func(func))
is_func(func)
? _any_func(l, func)
: _any_bool(l);
function _any_func(l, func, i=0, out=false) =
i >= len(l) || out? out :
_any_func(l, func, i=i+1, out=out || func(l[i]));
function _any_bool(l, i=0, out=false) =
i >= len(l) || out? out :
_any_bool(l, i=i+1, out=out || l[i]);
// Function: all()
// Usage:
// b = all(l);
// b = all(l,func);
// Description:
// Returns true if all items in list `l` evaluate as true. If `func` is given a function liteal
// of signature (x), returning bool, then that function literal is evaluated for each list item.
// Arguments:
// l = The list to test for true items.
// func = An optional function literal of signature (x), returning bool, to test each list item with.
// Example:
// all([0,false,undef]); // Returns false.
// all([1,false,undef]); // Returns false.
// all([1,5,true]); // Returns true.
// all([[0,0], [0,0]]); // Returns true.
// all([[0,0], [1,0]]); // Returns true.
// all([[1,1], [1,1]]); // Returns true.
function all(l, func) =
assert(is_list(l), "The input is not a list.")
assert(func==undef || is_func(func))
is_func(func)
? _all_func(l, func)
: _all_bool(l);
function _all_func(l, func, i=0, out=true) =
i >= len(l) || !out? out :
_all_func(l, func, i=i+1, out=out && func(l[i]));
function _all_bool(l, i=0, out=true) =
i >= len(l) || !out? out :
_all_bool(l, i=i+1, out=out && l[i]);
// Function: count_true()
// Usage:
// n = count_true(l,<nmax=>)
// n = count_true(l,func,<nmax=>)
// Description:
// Returns the number of items in `l` that evaluate as true.
// If `l` is a lists of lists, this is applied recursively to each
// sublist. Returns the total count of items that evaluate as true
// in all recursive sublists.
// Arguments:
// l = The list to test for true items.
// func = An optional function literal of signature (x), returning bool, to test each list item with.
// ---
// nmax = Max number of true items to count. Default: `undef` (no limit)
// Example:
// count_true([0,false,undef]); // Returns 0.
// count_true([1,false,undef]); // Returns 1.
// count_true([1,5,false]); // Returns 2.
// count_true([1,5,true]); // Returns 3.
// count_true([[0,0], [0,0]]); // Returns 2.
// count_true([[0,0], [1,0]]); // Returns 2.
// count_true([[1,1], [1,1]]); // Returns 2.
// count_true([[1,1], [1,1]], nmax=1); // Returns 1.
function count_true(l, func, nmax) =
assert(is_list(l))
assert(func==undef || is_func(func))
is_func(func)
? _count_true_func(l, func, nmax)
: _count_true_bool(l, nmax);
function _count_true_func(l, func, nmax, i=0, out=0) =
i >= len(l) || (nmax!=undef && out>=nmax) ? out :
_count_true_func(
l, func, nmax, i = i + 1,
out = out + (func(l[i])? 1:0)
);
function _count_true_bool(l, nmax, i=0, out=0) =
i >= len(l) || (nmax!=undef && out>=nmax) ? out :
_count_true_bool(
l, nmax, i = i + 1,
out = out + (l[i]? 1:0)
);
// Section: Calculus
// Function: deriv()
// Usage:
// x = deriv(data, [h], [closed])
// Description:
// Computes a numerical derivative estimate of the data, which may be scalar or vector valued.
// The `h` parameter gives the step size of your sampling so the derivative can be scaled correctly.
// If the `closed` parameter is true the data is assumed to be defined on a loop with data[0] adjacent to
// data[len(data)-1]. This function uses a symetric derivative approximation
// for internal points, f'(t) = (f(t+h)-f(t-h))/2h. For the endpoints (when closed=false) the algorithm
// uses a two point method if sufficient points are available: f'(t) = (3*(f(t+h)-f(t)) - (f(t+2*h)-f(t+h)))/2h.
// .
// If `h` is a vector then it is assumed to be nonuniform, with h[i] giving the sampling distance
// between data[i+1] and data[i], and the data values will be linearly resampled at each corner
// to produce a uniform spacing for the derivative estimate. At the endpoints a single point method
// is used: f'(t) = (f(t+h)-f(t))/h.
// Arguments:
// data = the list of the elements to compute the derivative of.
// h = the parametric sampling of the data.
// closed = boolean to indicate if the data set should be wrapped around from the end to the start.
function deriv(data, h=1, closed=false) =
assert( is_consistent(data) , "Input list is not consistent or not numerical.")
assert( len(data)>=2, "Input `data` should have at least 2 elements.")
assert( is_finite(h) || is_vector(h), "The sampling `h` must be a number or a list of numbers." )
assert( is_num(h) || len(h) == len(data)-(closed?0:1),
str("Vector valued `h` must have length ",len(data)-(closed?0:1)))
is_vector(h) ? _deriv_nonuniform(data, h, closed=closed) :
let( L = len(data) )
closed
? [
for(i=[0:1:L-1])
(data[(i+1)%L]-data[(L+i-1)%L])/2/h
]
: let(
first = L<3 ? data[1]-data[0] :
3*(data[1]-data[0]) - (data[2]-data[1]),
last = L<3 ? data[L-1]-data[L-2]:
(data[L-3]-data[L-2])-3*(data[L-2]-data[L-1])
)
[
first/2/h,
for(i=[1:1:L-2]) (data[i+1]-data[i-1])/2/h,
last/2/h
];
function _dnu_calc(f1,fc,f2,h1,h2) =
let(
f1 = h2<h1 ? lerp(fc,f1,h2/h1) : f1 ,
f2 = h1<h2 ? lerp(fc,f2,h1/h2) : f2
)
(f2-f1) / 2 / min(h1,h2);
function _deriv_nonuniform(data, h, closed) =
let( L = len(data) )
closed
? [for(i=[0:1:L-1])
_dnu_calc(data[(L+i-1)%L], data[i], data[(i+1)%L], select(h,i-1), h[i]) ]
: [
(data[1]-data[0])/h[0],
for(i=[1:1:L-2]) _dnu_calc(data[i-1],data[i],data[i+1], h[i-1],h[i]),
(data[L-1]-data[L-2])/h[L-2]
];
// Function: deriv2()
// Usage:
// x = deriv2(data, <h>, <closed>)
// Description:
// Computes a numerical estimate of the second derivative of the data, which may be scalar or vector valued.
// The `h` parameter gives the step size of your sampling so the derivative can be scaled correctly.
// If the `closed` parameter is true the data is assumed to be defined on a loop with data[0] adjacent to
// data[len(data)-1]. For internal points this function uses the approximation
// f''(t) = (f(t-h)-2*f(t)+f(t+h))/h^2. For the endpoints (when closed=false),
// when sufficient points are available, the method is either the four point expression
// f''(t) = (2*f(t) - 5*f(t+h) + 4*f(t+2*h) - f(t+3*h))/h^2 or
// f''(t) = (35*f(t) - 104*f(t+h) + 114*f(t+2*h) - 56*f(t+3*h) + 11*f(t+4*h)) / 12h^2
// if five points are available.
// Arguments:
// data = the list of the elements to compute the derivative of.
// h = the constant parametric sampling of the data.
// closed = boolean to indicate if the data set should be wrapped around from the end to the start.
function deriv2(data, h=1, closed=false) =
assert( is_consistent(data) , "Input list is not consistent or not numerical.")
assert( is_finite(h), "The sampling `h` must be a number." )
let( L = len(data) )
assert( L>=3, "Input list has less than 3 elements.")
closed
? [
for(i=[0:1:L-1])
(data[(i+1)%L]-2*data[i]+data[(L+i-1)%L])/h/h
]
:
let(
first =
L==3? data[0] - 2*data[1] + data[2] :
L==4? 2*data[0] - 5*data[1] + 4*data[2] - data[3] :
(35*data[0] - 104*data[1] + 114*data[2] - 56*data[3] + 11*data[4])/12,
last =
L==3? data[L-1] - 2*data[L-2] + data[L-3] :
L==4? -2*data[L-1] + 5*data[L-2] - 4*data[L-3] + data[L-4] :
(35*data[L-1] - 104*data[L-2] + 114*data[L-3] - 56*data[L-4] + 11*data[L-5])/12
) [
first/h/h,
for(i=[1:1:L-2]) (data[i+1]-2*data[i]+data[i-1])/h/h,
last/h/h
];
// Function: deriv3()
// Usage:
// x = deriv3(data, <h>, <closed>)
// Description:
// Computes a numerical third derivative estimate of the data, which may be scalar or vector valued.
// The `h` parameter gives the step size of your sampling so the derivative can be scaled correctly.
// If the `closed` parameter is true the data is assumed to be defined on a loop with data[0] adjacent to
// data[len(data)-1]. This function uses a five point derivative estimate, so the input data must include
// at least five points:
// f'''(t) = (-f(t-2*h)+2*f(t-h)-2*f(t+h)+f(t+2*h)) / 2h^3. At the first and second points from the end
// the estimates are f'''(t) = (-5*f(t)+18*f(t+h)-24*f(t+2*h)+14*f(t+3*h)-3*f(t+4*h)) / 2h^3 and
// f'''(t) = (-3*f(t-h)+10*f(t)-12*f(t+h)+6*f(t+2*h)-f(t+3*h)) / 2h^3.
// Arguments:
// data = the list of the elements to compute the derivative of.
// h = the constant parametric sampling of the data.
// closed = boolean to indicate if the data set should be wrapped around from the end to the start.
function deriv3(data, h=1, closed=false) =
assert( is_consistent(data) , "Input list is not consistent or not numerical.")
assert( len(data)>=5, "Input list has less than 5 elements.")
assert( is_finite(h), "The sampling `h` must be a number." )
let(
L = len(data),
h3 = h*h*h
)
closed? [
for(i=[0:1:L-1])
(-data[(L+i-2)%L]+2*data[(L+i-1)%L]-2*data[(i+1)%L]+data[(i+2)%L])/2/h3
] :
let(
first=(-5*data[0]+18*data[1]-24*data[2]+14*data[3]-3*data[4])/2,
second=(-3*data[0]+10*data[1]-12*data[2]+6*data[3]-data[4])/2,
last=(5*data[L-1]-18*data[L-2]+24*data[L-3]-14*data[L-4]+3*data[L-5])/2,
prelast=(3*data[L-1]-10*data[L-2]+12*data[L-3]-6*data[L-4]+data[L-5])/2
) [
first/h3,
second/h3,
for(i=[2:1:L-3]) (-data[i-2]+2*data[i-1]-2*data[i+1]+data[i+2])/2/h3,
prelast/h3,
last/h3
];
// Section: Complex Numbers
// Function: complex()
// Usage:
// z = complex(list)
// Description:
// Converts a real valued number, vector or matrix into its complex analog
// by replacing all entries with a 2-vector that has zero imaginary part.
function complex(list) =
is_num(list) ? [list,0] :
[for(entry=list) is_num(entry) ? [entry,0] : complex(entry)];
// Function: c_mul()
// Usage:
// c = c_mul(z1,z2)
// Description:
// Multiplies two complex numbers, vectors or matrices, where complex numbers
// or entries are represented as vectors: [REAL, IMAGINARY]. Note that all
// entries in both arguments must be complex.
// Arguments:
// z1 = First complex number, vector or matrix
// z2 = Second complex number, vector or matrix
function _split_complex(data) =
is_vector(data,2) ? data
: is_num(data[0][0]) ? [data*[1,0], data*[0,1]]
: [
[for(vec=data) vec * [1,0]],
[for(vec=data) vec * [0,1]]
];
function _combine_complex(data) =
is_vector(data,2) ? data
: is_num(data[0][0]) ? [for(i=[0:len(data[0])-1]) [data[0][i],data[1][i]]]
: [for(i=[0:1:len(data[0])-1])
[for(j=[0:1:len(data[0][0])-1])
[data[0][i][j], data[1][i][j]]]];
function _c_mul(z1,z2) =
[ z1.x*z2.x - z1.y*z2.y, z1.x*z2.y + z1.y*z2.x ];
function c_mul(z1,z2) =
is_matrix([z1,z2],2,2) ? _c_mul(z1,z2) :
_combine_complex(_c_mul(_split_complex(z1), _split_complex(z2)));
// Function: c_div()
// Usage:
// x = c_div(z1,z2)
// Description:
// Divides two complex numbers represented by 2D vectors.
// Returns a complex number as a 2D vector [REAL, IMAGINARY].
// Arguments:
// z1 = First complex number, given as a 2D vector [REAL, IMAGINARY]
// z2 = Second complex number, given as a 2D vector [REAL, IMAGINARY]
function c_div(z1,z2) =
assert( is_vector(z1,2) && is_vector(z2), "Complex numbers should be represented by 2D vectors." )
assert( !approx(z2,0), "The divisor `z2` cannot be zero." )
let(den = z2.x*z2.x + z2.y*z2.y)
[(z1.x*z2.x + z1.y*z2.y)/den, (z1.y*z2.x - z1.x*z2.y)/den];
// Function: c_conj()
// Usage:
// w = c_conj(z)
// Description:
// Computes the complex conjugate of the input, which can be a complex number,
// complex vector or complex matrix.
function c_conj(z) =
is_vector(z,2) ? [z.x,-z.y] :
[for(entry=z) c_conj(entry)];
// Function: c_real()
// Usage:
// x = c_real(z)
// Description:
// Returns real part of a complex number, vector or matrix.
function c_real(z) =
is_vector(z,2) ? z.x
: is_num(z[0][0]) ? z*[1,0]
: [for(vec=z) vec * [1,0]];
// Function: c_imag()
// Usage:
// x = c_imag(z)
// Description:
// Returns imaginary part of a complex number, vector or matrix.
function c_imag(z) =
is_vector(z,2) ? z.y
: is_num(z[0][0]) ? z*[0,1]
: [for(vec=z) vec * [0,1]];
// Function: c_ident()
// Usage:
// I = c_ident(n)
// Description:
// Produce an n by n complex identity matrix
function c_ident(n) = [for (i = [0:1:n-1]) [for (j = [0:1:n-1]) (i==j)?[1,0]:[0,0]]];
// Function: c_norm()
// Usage:
// n = c_norm(z)
// Description:
// Compute the norm of a complex number or vector.
function c_norm(z) = norm_fro(z);
// Section: Polynomials
// Function: quadratic_roots()
// Usage:
// roots = quadratic_roots(a,b,c,<real>)
// Description:
// Computes roots of the quadratic equation a*x^2+b*x+c==0, where the
// coefficients are real numbers. If real is true then returns only the
// real roots. Otherwise returns a pair of complex values. This method
// may be more reliable than the general root finder at distinguishing
// real roots from complex roots.
// Algorithm from: https://people.csail.mit.edu/bkph/articles/Quadratics.pdf
function quadratic_roots(a,b,c,real=false) =
real ? [for(root = quadratic_roots(a,b,c,real=false)) if (root.y==0) root.x]
:
is_undef(b) && is_undef(c) && is_vector(a,3) ? quadratic_roots(a[0],a[1],a[2]) :
assert(is_num(a) && is_num(b) && is_num(c))
assert(a!=0 || b!=0 || c!=0, "Quadratic must have a nonzero coefficient")
a==0 && b==0 ? [] : // No solutions
a==0 ? [[-c/b,0]] :
let(
descrim = b*b-4*a*c,
sqrt_des = sqrt(abs(descrim))
)
descrim < 0 ? // Complex case
[[-b, sqrt_des],
[-b, -sqrt_des]]/2/a :
b<0 ? // b positive
[[2*c/(-b+sqrt_des),0],
[(-b+sqrt_des)/a/2,0]]
: // b negative
[[(-b-sqrt_des)/2/a, 0],
[2*c/(-b-sqrt_des),0]];
// Function: polynomial()
// Usage:
// x = polynomial(p, z)
// Description:
// Evaluates specified real polynomial, p, at the complex or real input value, z.
// The polynomial is specified as p=[a_n, a_{n-1},...,a_1,a_0]
// where a_n is the z^n coefficient. Polynomial coefficients are real.
// The result is a number if `z` is a number and a complex number otherwise.
function polynomial(p,z,k,total) =
is_undef(k)
? assert( is_vector(p) , "Input polynomial coefficients must be a vector." )
assert( is_finite(z) || is_vector(z,2), "The value of `z` must be a real or a complex number." )
polynomial( _poly_trim(p), z, 0, is_num(z) ? 0 : [0,0])
: k==len(p) ? total
: polynomial(p,z,k+1, is_num(z) ? total*z+p[k] : c_mul(total,z)+[p[k],0]);
// Function: poly_mult()
// Usage:
// x = polymult(p,q)
// x = polymult([p1,p2,p3,...])
// Description:
// Given a list of polynomials represented as real coefficient lists, with the highest degree coefficient first,
// computes the coefficient list of the product polynomial.
function poly_mult(p,q) =
is_undef(q) ?
len(p)==2
? poly_mult(p[0],p[1])
: poly_mult(p[0], poly_mult(list_tail(p)))
:
assert( is_vector(p) && is_vector(q),"Invalid arguments to poly_mult")
p*p==0 || q*q==0
? [0]
: _poly_trim(convolve(p,q));
// Function: poly_div()
// Usage:
// [quotient,remainder] = poly_div(n,d)
// Description:
// Computes division of the numerator polynomial by the denominator polynomial and returns
// a list of two polynomials, [quotient, remainder]. If the division has no remainder then
// the zero polynomial [] is returned for the remainder. Similarly if the quotient is zero
// the returned quotient will be [].
function poly_div(n,d) =
assert( is_vector(n) && is_vector(d) , "Invalid polynomials." )
let( d = _poly_trim(d),
n = _poly_trim(n) )
assert( d!=[0] , "Denominator cannot be a zero polynomial." )
n==[0]
? [[0],[0]]
: _poly_div(n,d,q=[]);
function _poly_div(n,d,q) =
len(n)<len(d) ? [q,_poly_trim(n)] :
let(
t = n[0] / d[0],
newq = concat(q,[t]),
newn = [for(i=[1:1:len(n)-1]) i<len(d) ? n[i] - t*d[i] : n[i]]
)
_poly_div(newn,d,newq);
/// Internal Function: _poly_trim()
/// Usage:
/// _poly_trim(p,[eps])
/// Description:
/// Removes leading zero terms of a polynomial. By default zeros must be exact,
/// or give epsilon for approximate zeros.
function _poly_trim(p,eps=0) =
let( nz = [for(i=[0:1:len(p)-1]) if ( !approx(p[i],0,eps)) i])
len(nz)==0 ? [0] : list_tail(p,nz[0]);
// Function: poly_add()
// Usage:
// sum = poly_add(p,q)
// Description:
// Computes the sum of two polynomials.
function poly_add(p,q) =
assert( is_vector(p) && is_vector(q), "Invalid input polynomial(s)." )
let( plen = len(p),
qlen = len(q),
long = plen>qlen ? p : q,
short = plen>qlen ? q : p
)
_poly_trim(long + concat(repeat(0,len(long)-len(short)),short));
// Function: poly_roots()
// Usage:
// poly_roots(p,<tol>)
// Description:
// Returns all complex roots of the specified real polynomial p.
// The polynomial is specified as p=[a_n, a_{n-1},...,a_1,a_0]
// where a_n is the z^n coefficient. The tol parameter gives
// the stopping tolerance for the iteration. The polynomial
// must have at least one non-zero coefficient. Convergence is poor
// if the polynomial has any repeated roots other than zero.
// Arguments:
// p = polynomial coefficients with higest power coefficient first
// tol = tolerance for iteration. Default: 1e-14
// Uses the Aberth method https://en.wikipedia.org/wiki/Aberth_method
//
// Dario Bini. "Numerical computation of polynomial zeros by means of Aberth's Method", Numerical Algorithms, Feb 1996.
// https://www.researchgate.net/publication/225654837_Numerical_computation_of_polynomial_zeros_by_means_of_Aberth's_method
function poly_roots(p,tol=1e-14,error_bound=false) =
assert( is_vector(p), "Invalid polynomial." )
let( p = _poly_trim(p,eps=0) )
assert( p!=[0], "Input polynomial cannot be zero." )
p[len(p)-1] == 0 ? // Strip trailing zero coefficients
let( solutions = poly_roots(list_head(p),tol=tol, error_bound=error_bound))
(error_bound ? [ [[0,0], each solutions[0]], [0, each solutions[1]]]
: [[0,0], each solutions]) :
len(p)==1 ? (error_bound ? [[],[]] : []) : // Nonzero constant case has no solutions
len(p)==2 ? let( solution = [[-p[1]/p[0],0]]) // Linear case needs special handling
(error_bound ? [solution,[0]] : solution)
:
let(
n = len(p)-1, // polynomial degree
pderiv = [for(i=[0:n-1]) p[i]*(n-i)],
s = [for(i=[0:1:n]) abs(p[i])*(4*(n-i)+1)], // Error bound polynomial from Bini
// Using method from: http://www.kurims.kyoto-u.ac.jp/~kyodo/kokyuroku/contents/pdf/0915-24.pdf
beta = -p[1]/p[0]/n,
r = 1+pow(abs(polynomial(p,beta)/p[0]),1/n),
init = [for(i=[0:1:n-1]) // Initial guess for roots
let(angle = 360*i/n+270/n/PI)
[beta,0]+r*[cos(angle),sin(angle)]
],
roots = _poly_roots(p,pderiv,s,init,tol=tol),
error = error_bound ? [for(xi=roots) n * (norm(polynomial(p,xi))+tol*polynomial(s,norm(xi))) /
abs(norm(polynomial(pderiv,xi))-tol*polynomial(s,norm(xi)))] : 0
)
error_bound ? [roots, error] : roots;
// Internal function
// p = polynomial
// pderiv = derivative polynomial of p
// z = current guess for the roots
// tol = root tolerance
// i=iteration counter
function _poly_roots(p, pderiv, s, z, tol, i=0) =
assert(i<45, str("Polyroot exceeded iteration limit. Current solution:", z))
let(
n = len(z),
svals = [for(zk=z) tol*polynomial(s,norm(zk))],
p_of_z = [for(zk=z) polynomial(p,zk)],
done = [for(k=[0:n-1]) norm(p_of_z[k])<=svals[k]],
newton = [for(k=[0:n-1]) c_div(p_of_z[k], polynomial(pderiv,z[k]))],
zdiff = [for(k=[0:n-1]) sum([for(j=[0:n-1]) if (j!=k) c_div([1,0], z[k]-z[j])])],
w = [for(k=[0:n-1]) done[k] ? [0,0] : c_div( newton[k],
[1,0] - c_mul(newton[k], zdiff[k]))]
)
all(done) ? z : _poly_roots(p,pderiv,s,z-w,tol,i+1);
// Function: real_roots()
// Usage:
// real_roots(p, <eps>, <tol>)
// Description:
// Returns the real roots of the specified real polynomial p.
// The polynomial is specified as p=[a_n, a_{n-1},...,a_1,a_0]
// where a_n is the x^n coefficient. This function works by
// computing the complex roots and returning those roots where
// the imaginary part is closed to zero. By default it uses a computed
// error bound from the polynomial solver to decide whether imaginary
// parts are zero. You can specify eps, in which case the test is
// z.y/(1+norm(z)) < eps. Because
// of poor convergence and higher error for repeated roots, such roots may
// be missed by the algorithm because their imaginary part is large.
// Arguments:
// p = polynomial to solve as coefficient list, highest power term first
// eps = used to determine whether imaginary parts of roots are zero
// tol = tolerance for the complex polynomial root finder
function real_roots(p,eps=undef,tol=1e-14) =
assert( is_vector(p), "Invalid polynomial." )
let( p = _poly_trim(p,eps=0) )
assert( p!=[0], "Input polynomial cannot be zero." )
let(
roots_err = poly_roots(p,error_bound=true),
roots = roots_err[0],
err = roots_err[1]
)
is_def(eps)
? [for(z=roots) if (abs(z.y)/(1+norm(z))<eps) z.x]
: [for(i=idx(roots)) if (abs(roots[i].y)<=err[i]) roots[i].x];
// vim: expandtab tabstop=4 shiftwidth=4 softtabstop=4 nowrap
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