The Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with Quaternion, Transform and Vector3. Make sure to only include a pure orthogonal matrix without scaling. More...

#include <Matrix3x3.h>

Public Member Functions
	__attribute__ ((deprecated)) void getEulerZYX(tfScalar &yaw
	Get the matrix represented as euler angles around ZYX.
Matrix3x3	absolute () const
	Return the matrix with all values non negative.
Matrix3x3	adjoint () const
	Return the adjoint of the matrix.
tfScalar	cofac (int r1, int c1, int r2, int c2) const
	Calculate the matrix cofactor.
void	deSerialize (const struct Matrix3x3Data &dataIn)
void	deSerializeDouble (const struct Matrix3x3DoubleData &dataIn)
void	deSerializeFloat (const struct Matrix3x3FloatData &dataIn)
tfScalar	determinant () const
	Return the determinant of the matrix.
void	diagonalize (Matrix3x3 &rot, tfScalar threshold, int maxSteps)
	diagonalizes this matrix by the Jacobi method.
TFSIMD_FORCE_INLINE Vector3	getColumn (int i) const
	Get a column of the matrix as a vector.
void	getEulerYPR (tfScalar &yaw, tfScalar &pitch, tfScalar &roll, unsigned int solution_number=1) const
	Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR.
void	getOpenGLSubMatrix (tfScalar *m) const
	Fill the values of the matrix into a 9 element array.
void	getRotation (Quaternion &q) const
	Get the matrix represented as a quaternion.
TFSIMD_FORCE_INLINE const Vector3 &	getRow (int i) const
	Get a row of the matrix as a vector.
void	getRPY (tfScalar &roll, tfScalar &pitch, tfScalar &yaw, unsigned int solution_number=1) const
	Get the matrix represented as roll pitch and yaw about fixed axes XYZ.
Matrix3x3	inverse () const
	Return the inverse of the matrix.
	Matrix3x3 ()
	No initializaion constructor.
	Matrix3x3 (const Quaternion &q)
	Constructor from Quaternion.
	Matrix3x3 (const tfScalar &xx, const tfScalar &xy, const tfScalar &xz, const tfScalar &yx, const tfScalar &yy, const tfScalar &yz, const tfScalar &zx, const tfScalar &zy, const tfScalar &zz)
	Constructor with row major formatting.
TFSIMD_FORCE_INLINE	Matrix3x3 (const Matrix3x3 &other)
	Copy constructor.
Matrix3x3 &	operator*= (const Matrix3x3 &m)
	Multiply by the target matrix on the right.
TFSIMD_FORCE_INLINE Matrix3x3 &	operator= (const Matrix3x3 &other)
	Assignment Operator.
TFSIMD_FORCE_INLINE Vector3 &	operator[] (int i)
	Get a mutable reference to a row of the matrix as a vector.
TFSIMD_FORCE_INLINE const Vector3 &	operator[] (int i) const
	Get a const reference to a row of the matrix as a vector.
Matrix3x3	scaled (const Vector3 &s) const
	Create a scaled copy of the matrix.
void	serialize (struct Matrix3x3Data &dataOut) const
void	serializeFloat (struct Matrix3x3FloatData &dataOut) const
void	setEulerYPR (tfScalar eulerZ, tfScalar eulerY, tfScalar eulerX)
	Set the matrix from euler angles YPR around ZYX axes.
void	setEulerZYX (const tfScalar &yaw, const tfScalar &pitch, const tfScalar &roll) __attribute__((deprecated))
	Set the matrix from euler angles using YPR around ZYX respectively.
void	setFromOpenGLSubMatrix (const tfScalar *m)
	Set from a carray of tfScalars.
void	setIdentity ()
	Set the matrix to the identity.
void	setRotation (const Quaternion &q)
	Set the matrix from a quaternion.
void	setRPY (tfScalar roll, tfScalar pitch, tfScalar yaw)
	Set the matrix using RPY about XYZ fixed axes.
void	setValue (const tfScalar &xx, const tfScalar &xy, const tfScalar &xz, const tfScalar &yx, const tfScalar &yy, const tfScalar &yz, const tfScalar &zx, const tfScalar &zy, const tfScalar &zz)
	Set the values of the matrix explicitly (row major)
TFSIMD_FORCE_INLINE tfScalar	tdotx (const Vector3 &v) const
TFSIMD_FORCE_INLINE tfScalar	tdoty (const Vector3 &v) const
TFSIMD_FORCE_INLINE tfScalar	tdotz (const Vector3 &v) const
Matrix3x3	timesTranspose (const Matrix3x3 &m) const
Matrix3x3	transpose () const
	Return the transpose of the matrix.
Matrix3x3	transposeTimes (const Matrix3x3 &m) const
Static Public Member Functions
static const Matrix3x3 &	getIdentity ()
Public Attributes
tfScalar &	pitch
tfScalar tfScalar &	roll
tfScalar tfScalar unsigned int	solution_number
Private Attributes
Vector3	m_el [3]
	Data storage for the matrix, each vector is a row of the matrix.

Detailed Description

The Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with Quaternion, Transform and Vector3. Make sure to only include a pure orthogonal matrix without scaling.

Definition at line 31 of file Matrix3x3.h.

Constructor & Destructor Documentation

tf::Matrix3x3::Matrix3x3 ( ) [inline]

No initializaion constructor.

Definition at line 38 of file Matrix3x3.h.

tf::Matrix3x3::Matrix3x3 ( const Quaternion & q ) [inline, explicit]

Constructor from Quaternion.

Definition at line 43 of file Matrix3x3.h.

tf::Matrix3x3::Matrix3x3	(	const tfScalar &	xx,
		const tfScalar &	xy,
		const tfScalar &	xz,
		const tfScalar &	yx,
		const tfScalar &	yy,
		const tfScalar &	yz,
		const tfScalar &	zx,
		const tfScalar &	zy,
		const tfScalar &	zz
	)		`[inline]`

Constructor with row major formatting.

Definition at line 52 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE tf::Matrix3x3::Matrix3x3 ( const Matrix3x3 & other ) [inline]

Copy constructor.

Definition at line 61 of file Matrix3x3.h.

Member Function Documentation

tf::Matrix3x3::__attribute__ ( (deprecated) )

Get the matrix represented as euler angles around ZYX.

Parameters:

yaw	Yaw around Z axis
pitch	Pitch around Y axis
roll	around X axis
solution_number	Which solution of two possible solutions ( 1 or 2) are possible values

TFSIMD_FORCE_INLINE Matrix3x3 tf::Matrix3x3::absolute ( ) const

Return the matrix with all values non negative.

Definition at line 540 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Matrix3x3 tf::Matrix3x3::adjoint ( ) const

Return the adjoint of the matrix.

Definition at line 557 of file Matrix3x3.h.

tfScalar tf::Matrix3x3::cofac	(	int	r1,
		int	c1,
		int	r2,
		int	c2
	)		const `[inline]`

Calculate the matrix cofactor.

Parameters:

r1	The first row to use for calculating the cofactor
c1	The first column to use for calculating the cofactor
r1	The second row to use for calculating the cofactor
c1	The second column to use for calculating the cofactor See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details

Definition at line 505 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE void tf::Matrix3x3::deSerialize ( const struct Matrix3x3Data & dataIn )

Definition at line 675 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE void tf::Matrix3x3::deSerializeDouble ( const struct Matrix3x3DoubleData & dataIn )

Definition at line 687 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE void tf::Matrix3x3::deSerializeFloat ( const struct Matrix3x3FloatData & dataIn )

Definition at line 681 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE tfScalar tf::Matrix3x3::determinant ( ) const

Return the determinant of the matrix.

Definition at line 533 of file Matrix3x3.h.

void tf::Matrix3x3::diagonalize	(	Matrix3x3 &	rot,
		tfScalar	threshold,
		int	maxSteps
	)		`[inline]`

diagonalizes this matrix by the Jacobi method.

Parameters:

rot	stores 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.
threshold	See iteration
iteration	The 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 417 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Vector3 tf::Matrix3x3::getColumn ( int i ) const [inline]

Get a column of the matrix as a vector.

Parameters:

i	Column number 0 indexed

Definition at line 81 of file Matrix3x3.h.

void tf::Matrix3x3::getEulerYPR	(	tfScalar &	yaw,
		tfScalar &	pitch,
		tfScalar &	roll,
		unsigned int	solution_number = `1`
	)		const `[inline]`

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

Parameters:

yaw	Yaw around Z axis
pitch	Pitch around Y axis
roll	around X axis

Definition at line 292 of file Matrix3x3.h.

static const Matrix3x3& tf::Matrix3x3::getIdentity ( ) [inline, static]

Definition at line 215 of file Matrix3x3.h.

void tf::Matrix3x3::getOpenGLSubMatrix ( tfScalar * m ) const [inline]

Fill the values of the matrix into a 9 element array.

Parameters:

m	The array to be filled

Definition at line 225 of file Matrix3x3.h.

void tf::Matrix3x3::getRotation ( Quaternion & q ) const [inline]

Get the matrix represented as a quaternion.

Parameters:

q	The quaternion which will be set

Definition at line 243 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE const Vector3& tf::Matrix3x3::getRow ( int i ) const [inline]

Get a row of the matrix as a vector.

Parameters:

i	Row number 0 indexed

Definition at line 89 of file Matrix3x3.h.

void tf::Matrix3x3::getRPY	(	tfScalar &	roll,
		tfScalar &	pitch,
		tfScalar &	yaw,
		unsigned int	solution_number = `1`
	)		const `[inline]`

Get the matrix represented as roll pitch and yaw about fixed axes XYZ.

Parameters:

roll	around X axis
pitch	Pitch around Y axis
yaw	Yaw around Z axis
solution_number	Which solution of two possible solutions ( 1 or 2) are possible values

Definition at line 365 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Matrix3x3 tf::Matrix3x3::inverse ( ) const

Return the inverse of the matrix.

Definition at line 565 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Matrix3x3 & tf::Matrix3x3::operator*= ( const Matrix3x3 & m )

Multiply by the target matrix on the right.

Parameters:

m	Rotation matrix to be applied Equivilant to this = this * m

Definition at line 524 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Matrix3x3& tf::Matrix3x3::operator= ( const Matrix3x3 & other ) [inline]

Assignment Operator.

Definition at line 70 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Vector3& tf::Matrix3x3::operator[] ( int i ) [inline]

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

Parameters:

i	Row number 0 indexed

Definition at line 97 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE const Vector3& tf::Matrix3x3::operator[] ( int i ) const [inline]

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

Parameters:

i	Row number 0 indexed

Definition at line 105 of file Matrix3x3.h.

Matrix3x3 tf::Matrix3x3::scaled ( const Vector3 & s ) const [inline]

Create a scaled copy of the matrix.

Parameters:

s	Scaling vector The elements of the vector will scale each column

Definition at line 373 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE void tf::Matrix3x3::serialize ( struct Matrix3x3Data & dataOut ) const

Definition at line 662 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE void tf::Matrix3x3::serializeFloat ( struct Matrix3x3FloatData & dataOut ) const

Definition at line 668 of file Matrix3x3.h.

void tf::Matrix3x3::setEulerYPR	(	tfScalar	eulerZ,
		tfScalar	eulerY,
		tfScalar	eulerX
	)		`[inline]`

Set the matrix from euler angles YPR around ZYX axes.

Parameters:

eulerZ	Yaw aboud Z axis
eulerY	Pitch around Y axis
eulerX	Roll about X 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

Definition at line 180 of file Matrix3x3.h.

void tf::Matrix3x3::setEulerZYX	(	const tfScalar &	yaw,
		const tfScalar &	pitch,
		const tfScalar &	roll
	)		`[inline]`

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

Parameters:

yaw	Yaw about Z axis
pitch	Pitch about Y axis
roll	Roll about X axis

Definition at line 166 of file Matrix3x3.h.

void tf::Matrix3x3::setFromOpenGLSubMatrix ( const tfScalar * m ) [inline]

Set from a carray of tfScalars.

Parameters:

m	A pointer to the beginning of an array of 9 tfScalars

Definition at line 118 of file Matrix3x3.h.

void tf::Matrix3x3::setIdentity ( ) [inline]

Set the matrix to the identity.

Definition at line 208 of file Matrix3x3.h.

void tf::Matrix3x3::setRotation ( const Quaternion & q ) [inline]

Set the matrix from a quaternion.

Parameters:

q	The Quaternion to match

Definition at line 146 of file Matrix3x3.h.

void tf::Matrix3x3::setRPY	(	tfScalar	roll,
		tfScalar	pitch,
		tfScalar	yaw
	)		`[inline]`

Set the matrix using RPY about XYZ fixed axes.

Parameters:

roll	Roll about X axis
pitch	Pitch around Y axis
yaw	Yaw aboud Z axis

Definition at line 203 of file Matrix3x3.h.

void tf::Matrix3x3::setValue	(	const tfScalar &	xx,
		const tfScalar &	xy,
		const tfScalar &	xz,
		const tfScalar &	yx,
		const tfScalar &	yy,
		const tfScalar &	yz,
		const tfScalar &	zx,
		const tfScalar &	zy,
		const tfScalar &	zz
	)		`[inline]`

Set the values of the matrix explicitly (row major)

Parameters:

xx	Top left
xy	Top Middle
xz	Top Right
yx	Middle Left
yy	Middle Middle
yz	Middle Right
zx	Bottom Left
zy	Bottom Middle
zz	Bottom Right

Definition at line 135 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE tfScalar tf::Matrix3x3::tdotx ( const Vector3 & v ) const [inline]

Definition at line 394 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE tfScalar tf::Matrix3x3::tdoty ( const Vector3 & v ) const [inline]

Definition at line 398 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE tfScalar tf::Matrix3x3::tdotz ( const Vector3 & v ) const [inline]

Definition at line 402 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Matrix3x3 tf::Matrix3x3::timesTranspose ( const Matrix3x3 & m ) const

Definition at line 592 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Matrix3x3 tf::Matrix3x3::transpose ( ) const

Return the transpose of the matrix.

Definition at line 549 of file Matrix3x3.h.

TFSIMD_FORCE_INLINE Matrix3x3 tf::Matrix3x3::transposeTimes ( const Matrix3x3 & m ) const

Definition at line 577 of file Matrix3x3.h.

Member Data Documentation

Vector3 tf::Matrix3x3::m_el[3] [private]

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

Definition at line 34 of file Matrix3x3.h.

tfScalar& tf::Matrix3x3::pitch

Definition at line 282 of file Matrix3x3.h.

tfScalar tfScalar& tf::Matrix3x3::roll

Definition at line 282 of file Matrix3x3.h.

tfScalar tfScalar unsigned int tf::Matrix3x3::solution_number

Initial value:

 1) const
        {
                getEulerYPR(yaw, pitch, roll, solution_number);
        }

Definition at line 282 of file Matrix3x3.h.

The documentation for this class was generated from the following file:

Matrix3x3.h

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation