Public Member Functions | Static Public Member Functions | Private Attributes
btMatrix3x3 Class Reference

The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. Make sure to only include a pure orthogonal matrix without scaling. More...

#include <btMatrix3x3.h>

List of all members.

Public Member Functions

btMatrix3x3 absolute () const
 Return the matrix with all values non negative.
btMatrix3x3 adjoint () const
 Return the adjoint of the matrix.
 btMatrix3x3 ()
 No initializaion constructor.
 btMatrix3x3 (const btQuaternion &q)
 Constructor from Quaternion.
 btMatrix3x3 (const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
 Constructor with row major formatting.
SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3 &other)
 Copy constructor.
btScalar cofac (int r1, int c1, int r2, int c2) const
 Calculate the matrix cofactor.
void deSerialize (const struct btMatrix3x3Data &dataIn)
void deSerializeDouble (const struct btMatrix3x3DoubleData &dataIn)
void deSerializeFloat (const struct btMatrix3x3FloatData &dataIn)
btScalar determinant () const
 Return the determinant of the matrix.
void diagonalize (btMatrix3x3 &rot, btScalar threshold, int maxSteps)
 diagonalizes this matrix by the Jacobi method.
SIMD_FORCE_INLINE btVector3 getColumn (int i) const
 Get a column of the matrix as a vector.
void getEulerYPR (btScalar &yaw, btScalar &pitch, btScalar &roll) const
 Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR.
void getEulerZYX (btScalar &yaw, btScalar &pitch, btScalar &roll, unsigned int solution_number=1) const
 Get the matrix represented as euler angles around ZYX.
void getOpenGLSubMatrix (btScalar *m) const
 Fill the rotational part of an OpenGL matrix and clear the shear/perspective.
void getRotation (btQuaternion &q) const
 Get the matrix represented as a quaternion.
SIMD_FORCE_INLINE const btVector3 & getRow (int i) const
 Get a row of the matrix as a vector.
btMatrix3x3 inverse () const
 Return the inverse of the matrix.
btMatrix3x3operator*= (const btMatrix3x3 &m)
 Multiply by the target matrix on the right.
btMatrix3x3operator+= (const btMatrix3x3 &m)
 Adds by the target matrix on the right.
btMatrix3x3operator-= (const btMatrix3x3 &m)
 Substractss by the target matrix on the right.
SIMD_FORCE_INLINE btMatrix3x3operator= (const btMatrix3x3 &other)
 Assignment Operator.
SIMD_FORCE_INLINE btVector3 & operator[] (int i)
 Get a mutable reference to a row of the matrix as a vector.
SIMD_FORCE_INLINE const btVector3 & operator[] (int i) const
 Get a const reference to a row of the matrix as a vector.
btMatrix3x3 scaled (const btVector3 &s) const
 Create a scaled copy of the matrix.
void serialize (struct btMatrix3x3Data &dataOut) const
void serializeFloat (struct btMatrix3x3FloatData &dataOut) const
void setEulerYPR (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
 Set the matrix from euler angles using YPR around YXZ respectively.
void setEulerZYX (btScalar eulerX, btScalar eulerY, btScalar eulerZ)
 Set the matrix from euler angles YPR around ZYX axes.
void setFromOpenGLSubMatrix (const btScalar *m)
 Set from the rotational part of a 4x4 OpenGL matrix.
void setIdentity ()
 Set the matrix to the identity.
void setRotation (const btQuaternion &q)
 Set the matrix from a quaternion.
void setValue (const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
 Set the values of the matrix explicitly (row major)
SIMD_FORCE_INLINE btScalar tdotx (const btVector3 &v) const
SIMD_FORCE_INLINE btScalar tdoty (const btVector3 &v) const
SIMD_FORCE_INLINE btScalar tdotz (const btVector3 &v) const
btMatrix3x3 timesTranspose (const btMatrix3x3 &m) const
btMatrix3x3 transpose () const
 Return the transpose of the matrix.
btMatrix3x3 transposeTimes (const btMatrix3x3 &m) const

Static Public Member Functions

static const btMatrix3x3getIdentity ()

Private Attributes

btVector3 m_el [3]
 Data storage for the matrix, each vector is a row of the matrix.

Detailed Description

The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. Make sure to only include a pure orthogonal matrix without scaling.

Definition at line 31 of file btMatrix3x3.h.


Constructor & Destructor Documentation

No initializaion constructor.

Definition at line 38 of file btMatrix3x3.h.

btMatrix3x3::btMatrix3x3 ( const btQuaternion q) [inline, explicit]

Constructor from Quaternion.

Definition at line 43 of file btMatrix3x3.h.

btMatrix3x3::btMatrix3x3 ( const btScalar xx,
const btScalar xy,
const btScalar xz,
const btScalar yx,
const btScalar yy,
const btScalar yz,
const btScalar zx,
const btScalar zy,
const btScalar zz 
) [inline]

Constructor with row major formatting.

Definition at line 52 of file btMatrix3x3.h.

Copy constructor.

Definition at line 61 of file btMatrix3x3.h.


Member Function Documentation

Return the matrix with all values non negative.

Definition at line 617 of file btMatrix3x3.h.

Return the adjoint of the matrix.

Definition at line 634 of file btMatrix3x3.h.

btScalar btMatrix3x3::cofac ( int  r1,
int  c1,
int  r2,
int  c2 
) const [inline]

Calculate the matrix cofactor.

Parameters:
r1The first row to use for calculating the cofactor
c1The first column to use for calculating the cofactor
r1The second row to use for calculating the cofactor
c1The second column to use for calculating the cofactor See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details

Definition at line 509 of file btMatrix3x3.h.

Definition at line 752 of file btMatrix3x3.h.

Definition at line 764 of file btMatrix3x3.h.

Definition at line 758 of file btMatrix3x3.h.

Return the determinant of the matrix.

Definition at line 610 of file btMatrix3x3.h.

void btMatrix3x3::diagonalize ( btMatrix3x3 rot,
btScalar  threshold,
int  maxSteps 
) [inline]

diagonalizes this matrix by the Jacobi method.

Parameters:
rotstores the rotation from the coordinate system in which the matrix is diagonal to the original coordinate system, i.e., old_this = rot * new_this * rot^T.
thresholdSee iteration
iterationThe iteration stops when all off-diagonal elements are less than the threshold multiplied by the sum of the absolute values of the diagonal, or when maxSteps have been executed.

Note that this matrix is assumed to be symmetric.

Definition at line 421 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btVector3 btMatrix3x3::getColumn ( int  i) const [inline]

Get a column of the matrix as a vector.

Parameters:
iColumn number 0 indexed

Definition at line 78 of file btMatrix3x3.h.

void btMatrix3x3::getEulerYPR ( btScalar yaw,
btScalar pitch,
btScalar roll 
) const [inline]

Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR.

Parameters:
yawYaw around Y axis
pitchPitch around X axis
rollaround Z axis

Definition at line 279 of file btMatrix3x3.h.

void btMatrix3x3::getEulerZYX ( btScalar yaw,
btScalar pitch,
btScalar roll,
unsigned int  solution_number = 1 
) const [inline]

Get the matrix represented as euler angles around ZYX.

Parameters:
yawYaw around X axis
pitchPitch around Y axis
rollaround X axis
solution_numberWhich solution of two possible solutions ( 1 or 2) are possible values

Definition at line 308 of file btMatrix3x3.h.

static const btMatrix3x3& btMatrix3x3::getIdentity ( ) [inline, static]

Definition at line 213 of file btMatrix3x3.h.

void btMatrix3x3::getOpenGLSubMatrix ( btScalar m) const [inline]

Fill the rotational part of an OpenGL matrix and clear the shear/perspective.

Parameters:
mThe array to be filled

Definition at line 223 of file btMatrix3x3.h.

void btMatrix3x3::getRotation ( btQuaternion q) const [inline]

Get the matrix represented as a quaternion.

Parameters:
qThe quaternion which will be set

Definition at line 241 of file btMatrix3x3.h.

SIMD_FORCE_INLINE const btVector3& btMatrix3x3::getRow ( int  i) const [inline]

Get a row of the matrix as a vector.

Parameters:
iRow number 0 indexed

Definition at line 86 of file btMatrix3x3.h.

Return the inverse of the matrix.

Definition at line 642 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 & btMatrix3x3::operator*= ( const btMatrix3x3 m)

Multiply by the target matrix on the right.

Parameters:
mRotation matrix to be applied Equivilant to this = this * m

Definition at line 528 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 & btMatrix3x3::operator+= ( const btMatrix3x3 m)

Adds by the target matrix on the right.

Parameters:
mmatrix to be applied Equivilant to this = this + m

Definition at line 537 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3 & btMatrix3x3::operator-= ( const btMatrix3x3 m)

Substractss by the target matrix on the right.

Parameters:
mmatrix to be applied Equivilant to this = this - m

Definition at line 593 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btMatrix3x3& btMatrix3x3::operator= ( const btMatrix3x3 other) [inline]

Assignment Operator.

Definition at line 68 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btVector3& btMatrix3x3::operator[] ( int  i) [inline]

Get a mutable reference to a row of the matrix as a vector.

Parameters:
iRow number 0 indexed

Definition at line 94 of file btMatrix3x3.h.

SIMD_FORCE_INLINE const btVector3& btMatrix3x3::operator[] ( int  i) const [inline]

Get a const reference to a row of the matrix as a vector.

Parameters:
iRow number 0 indexed

Definition at line 102 of file btMatrix3x3.h.

btMatrix3x3 btMatrix3x3::scaled ( const btVector3 &  s) const [inline]

Create a scaled copy of the matrix.

Parameters:
sScaling vector The elements of the vector will scale each column

Definition at line 377 of file btMatrix3x3.h.

SIMD_FORCE_INLINE void btMatrix3x3::serialize ( struct btMatrix3x3Data dataOut) const

Definition at line 739 of file btMatrix3x3.h.

Definition at line 745 of file btMatrix3x3.h.

void btMatrix3x3::setEulerYPR ( const btScalar yaw,
const btScalar pitch,
const btScalar roll 
) [inline]

Set the matrix from euler angles using YPR around YXZ respectively.

Parameters:
yawYaw about Y axis
pitchPitch about X axis
rollRoll about Z axis

Definition at line 173 of file btMatrix3x3.h.

void btMatrix3x3::setEulerZYX ( btScalar  eulerX,
btScalar  eulerY,
btScalar  eulerZ 
) [inline]

Set the matrix from euler angles YPR around ZYX axes.

Parameters:
eulerXRoll about X axis
eulerYPitch around Y axis
eulerZYaw aboud Z axis

These angles are used to produce a rotation matrix. The euler angles are applied in ZYX order. I.e a vector is first rotated about X then Y and then Z

Todo:
proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code

Definition at line 187 of file btMatrix3x3.h.

void btMatrix3x3::setFromOpenGLSubMatrix ( const btScalar m) [inline]

Set from the rotational part of a 4x4 OpenGL matrix.

Parameters:
mA pointer to the beginning of the array of scalars

Definition at line 125 of file btMatrix3x3.h.

void btMatrix3x3::setIdentity ( ) [inline]

Set the matrix to the identity.

Definition at line 206 of file btMatrix3x3.h.

void btMatrix3x3::setRotation ( const btQuaternion q) [inline]

Set the matrix from a quaternion.

Parameters:
qThe Quaternion to match

Definition at line 153 of file btMatrix3x3.h.

void btMatrix3x3::setValue ( const btScalar xx,
const btScalar xy,
const btScalar xz,
const btScalar yx,
const btScalar yy,
const btScalar yz,
const btScalar zx,
const btScalar zy,
const btScalar zz 
) [inline]

Set the values of the matrix explicitly (row major)

Parameters:
xxTop left
xyTop Middle
xzTop Right
yxMiddle Left
yyMiddle Middle
yzMiddle Right
zxBottom Left
zyBottom Middle
zzBottom Right

Definition at line 142 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdotx ( const btVector3 &  v) const [inline]

Definition at line 398 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdoty ( const btVector3 &  v) const [inline]

Definition at line 402 of file btMatrix3x3.h.

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdotz ( const btVector3 &  v) const [inline]

Definition at line 406 of file btMatrix3x3.h.

Definition at line 669 of file btMatrix3x3.h.

Return the transpose of the matrix.

Definition at line 626 of file btMatrix3x3.h.

Definition at line 654 of file btMatrix3x3.h.


Member Data Documentation

btVector3 btMatrix3x3::m_el[3] [private]

Data storage for the matrix, each vector is a row of the matrix.

Definition at line 34 of file btMatrix3x3.h.


The documentation for this class was generated from the following file:
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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32