Homogenous matrix. More...

#include <vecmath.h>

Public Member Functions
void	arrayToMatrix (std::vector< double > &values)
	CMatrix ()
	CMatrix (PRECISION a0, PRECISION a4, PRECISION a8, PRECISION a12, PRECISION a1, PRECISION a5, PRECISION a9, PRECISION a13, PRECISION a2, PRECISION a6, PRECISION a10, PRECISION a14, PRECISION a3=0.0f, PRECISION a7=0.0f, PRECISION a11=0.0f, PRECISION a15=1.0f)
void	invert ()
	Inverts the matrix (only for homogenous matrices)
PRECISION	length () const
void	matrixToArray (std::vector< double > &values)
void	mul (const CMatrix &first, const CMatrix &second)
	Assigns product of two matrices to matrix.
void	mulNoAlloc (const CMatrix &first, const CMatrix &second)
CMatrix	operator* (PRECISION f) const
	Scalar multiplication.
CMatrix	operator* (const CMatrix &m) const
	Matrix multiplication.
CVec	operator* (const CVec &v) const
	Matrix vector product.
CMatrix	operator+ (const CMatrix &b) const
	Matrix addition.
CMatrix &	operator+= (const CVec &v)
	Overwrites matrix with sum of matrix and vector.
CMatrix	operator- (const CMatrix &b) const
	Matrix subtraction.
CMatrix &	operator= (const CMatrix &v)
	Assigns values of matrix v to matrix.
const CVec &	operator[] (int i) const
	Array access (read)
CVec &	operator[] (int i)
	Array access (read&write)
void	print (bool round=false) const
	Prints matrix to console.
void	printText ()
void	randomOrientation (double max=2.0 *M_PI)
void	set (PRECISION a0, PRECISION a4, PRECISION a8, PRECISION a12, PRECISION a1, PRECISION a5, PRECISION a9, PRECISION a13, PRECISION a2, PRECISION a6, PRECISION a10, PRECISION a14, PRECISION a3=0.0f, PRECISION a7=0.0f, PRECISION a11=0.0f, PRECISION a15=1.0f)
void	setDh (const robotLibPbD::CDh &dh)
	Creates Denavit Hartenberg matrix.
std::string	toString (bool round=false)
PRECISION	trace ()
	Trace - sum of diagonal elements - of matrix.
void	transpose ()
	Transposes the matrix.
void	unity ()
Public Attributes
PRECISION	a [16]

Detailed Description

Homogenous matrix.

Definition at line 187 of file vecmath.h.

Constructor & Destructor Documentation

robotLibPbD::CMatrix::CMatrix ( )

Definition at line 73 of file vecmath.cpp.

robotLibPbD::CMatrix::CMatrix	(	PRECISION	a0,
		PRECISION	a4,
		PRECISION	a8,
		PRECISION	a12,
		PRECISION	a1,
		PRECISION	a5,
		PRECISION	a9,
		PRECISION	a13,
		PRECISION	a2,
		PRECISION	a6,
		PRECISION	a10,
		PRECISION	a14,
		PRECISION	a3 = `0.0f`,
		PRECISION	a7 = `0.0f`,
		PRECISION	a11 = `0.0f`,
		PRECISION	a15 = `1.0f`
	)

Definition at line 132 of file vecmath.cpp.

Member Function Documentation

void robotLibPbD::CMatrix::arrayToMatrix ( std::vector< double > & values )

Definition at line 332 of file vecmath.cpp.

void robotLibPbD::CMatrix::invert ( ) [inline]

Inverts the matrix (only for homogenous matrices)

Definition at line 461 of file vecmath.h.

PRECISION robotLibPbD::CMatrix::length ( ) const

Definition at line 355 of file vecmath.cpp.

void robotLibPbD::CMatrix::matrixToArray ( std::vector< double > & values )

Definition at line 313 of file vecmath.cpp.

void robotLibPbD::CMatrix::mul	(	const CMatrix &	first,
		const CMatrix &	second
	)		`[inline]`

Assigns product of two matrices to matrix.

Definition at line 380 of file vecmath.h.

void robotLibPbD::CMatrix::mulNoAlloc	(	const CMatrix &	first,
		const CMatrix &	second
	)		`[inline]`

Definition at line 405 of file vecmath.h.

CMatrix robotLibPbD::CMatrix::operator* ( PRECISION f ) const

Scalar multiplication.

Definition at line 235 of file vecmath.cpp.

CMatrix robotLibPbD::CMatrix::operator* ( const CMatrix & m ) const

Matrix multiplication.

Definition at line 262 of file vecmath.cpp.

CVec robotLibPbD::CMatrix::operator* ( const CVec & v ) const

Matrix vector product.

Definition at line 279 of file vecmath.cpp.

CMatrix robotLibPbD::CMatrix::operator+ ( const CMatrix & b ) const

Matrix addition.

Definition at line 244 of file vecmath.cpp.

CMatrix & robotLibPbD::CMatrix::operator+= ( const CVec & v )

Overwrites matrix with sum of matrix and vector.

Definition at line 270 of file vecmath.cpp.

CMatrix robotLibPbD::CMatrix::operator- ( const CMatrix & b ) const

Matrix subtraction.

Definition at line 253 of file vecmath.cpp.

CMatrix & robotLibPbD::CMatrix::operator= ( const CMatrix & v )

Assigns values of matrix v to matrix.

Definition at line 301 of file vecmath.cpp.

const CVec & robotLibPbD::CMatrix::operator[] ( int i ) const

Array access (read)

Definition at line 290 of file vecmath.cpp.

CVec & robotLibPbD::CMatrix::operator[] ( int i )

Array access (read&write)

Definition at line 295 of file vecmath.cpp.

void robotLibPbD::CMatrix::print ( bool round = false ) const

Prints matrix to console.

Definition at line 207 of file vecmath.cpp.

void robotLibPbD::CMatrix::printText ( )

Definition at line 100 of file vecmath.cpp.

void robotLibPbD::CMatrix::randomOrientation ( double max = 2.0 * M_PI )

Definition at line 81 of file vecmath.cpp.

void robotLibPbD::CMatrix::set	(	PRECISION	a0,
		PRECISION	a4,
		PRECISION	a8,
		PRECISION	a12,
		PRECISION	a1,
		PRECISION	a5,
		PRECISION	a9,
		PRECISION	a13,
		PRECISION	a2,
		PRECISION	a6,
		PRECISION	a10,
		PRECISION	a14,
		PRECISION	a3 = `0.0f`,
		PRECISION	a7 = `0.0f`,
		PRECISION	a11 = `0.0f`,
		PRECISION	a15 = `1.0f`
	)

Definition at line 144 of file vecmath.cpp.

void robotLibPbD::CMatrix::setDh ( const robotLibPbD::CDh & dh )

Creates Denavit Hartenberg matrix.

Definition at line 156 of file vecmath.cpp.

std::string robotLibPbD::CMatrix::toString ( bool round = false )

Definition at line 221 of file vecmath.cpp.

PRECISION robotLibPbD::CMatrix::trace ( )

Trace - sum of diagonal elements - of matrix.

Definition at line 201 of file vecmath.cpp.

void robotLibPbD::CMatrix::transpose ( )

Transposes the matrix.

Definition at line 118 of file vecmath.cpp.

void robotLibPbD::CMatrix::unity ( )

Definition at line 92 of file vecmath.cpp.

Member Data Documentation

PRECISION robotLibPbD::CMatrix::a[16]

Definition at line 190 of file vecmath.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation