3x3 matrix class. More...

#include <fMatrix3.h>

Public Member Functions
	fMat33 ()
	Default constructor. More...

	fMat33 (double *ini)
	Constructor with initial values as array. More...

	fMat33 (double ini)
	Constructor with the same initial diagonal value. More...

	fMat33 (double _m11, double _m12, double _m13, double _m21, double _m22, double _m23, double _m31, double _m32, double _m33)
	Constructor with all values. More...

	fMat33 (double d1, double d2, double d3)
	Constructor with diagonal values. More...

	fMat33 (const fMat33 &ini)
	Copy constructor. More...

double &	operator() (int i, int j)
	The reference to the (i, j)-th element. More...

double	operator() (int i, int j) const
	The value of the (i, j)-th element. More...

fMat33	operator= (const fMat33 &mat)
	Assignment operator. More...

void	operator= (double d)
	Set the same value to the diagonal elements. More...

double	operator[] (int i) const
	Value of the i-th element in the array. More...

	~fMat33 ()
	Destructor. More...

Friends
class	fVec3

Operators
fMat33	operator- (const fMat33 &mat)

fMat33	operator+ (const fMat33 &mat1, const fMat33 &mat2)

fMat33	operator- (const fMat33 &mat1, const fMat33 &mat2)

fMat33	operator* (double d, const fMat33 &mat)

fMat33	operator* (const fMat33 &m1, const fMat33 &m2)

fVec3	operator* (const fMat33 &m, const fVec3 &v)

fMat33	operator* (const fMat33 &mat, double d)

fMat33	operator/ (const fMat33 &mat, double d)

HRPBASE_EXPORT ostream &	operator<< (ostream &ost, const fMat33 &mat)
	Outputs the elements to a stream. More...

fMat33	tran (const fMat33 &m)
	Returns the transpose. More...

double	m11

double	m21

double	m31

double	m12

double	m22

double	m32

double	m13

double	m23

double	m33

double	temp

int	n_row

int	n_col

void	operator+= (const fMat33 &mat)

void	operator-= (const fMat33 &mat)

void	operator*= (double d)

void	operator/= (double d)

	operator double * ()
	Converts to an array. More...

double *	data ()
	Pointer to the first element. More...

void	tran (const fMat33 &)
	Sets the transpose. More...

void	cross (const fVec3 &p)
	Sets spectial matrices. More...

void	diag (double, double, double)
	Diagonal matrix. More...

void	identity ()
	Identity matrix. More...

void	zero ()

void	set (const fMat33 &mat)
	Copies a matrix. More...

void	set (const class fEulerPara &ep)
	Convert from Euler parameter description. More...

void	neg (const fMat33 &mat)
	Functions for basic operations. More...

void	add (const fMat33 &mat1, const fMat33 &mat2)

void	add (const fMat33 &mat)

void	sub (const fMat33 &mat1, const fMat33 &mat2)

void	mul (const fMat33 &mat1, const fMat33 &mat2)

void	mul (double d, const fMat33 &mat)

void	mul (const fMat33 &mat, double d)

void	div (const fMat33 &mat, double d)

void	mul (const fVec3 &v1, const fVec3 &v2)

void	rot2mat (const fVec3 &, double)
	Converts from/to equivalent rotation axis and angle. More...

void	mat2rot (fVec3 &, double &) const

void	ea2mat_xyz (const fVec3 &ea)
	Converts from Euler angles. More...

void	ea2mat_xzy (const fVec3 &ea)
	Euler angles to matrix. More...

void	ea2mat_zyx (const fVec3 &ea)
	Euler angles to matrix. More...

void	ea2mat_yzx (const fVec3 &ea)
	Euler angles to matrix. More...

Detailed Description

3x3 matrix class.

Definition at line 29 of file fMatrix3.h.

Constructor & Destructor Documentation

◆ fMat33() [1/6]

fMat33::fMat33 ( )

inline

Default constructor.

Creates a 3x3 matrix and initialize as an identity matrix.

Definition at line 37 of file fMatrix3.h.

◆ fMat33() [2/6]

fMat33::fMat33 ( double * ini )

inline

Constructor with initial values as array.

Constructor with initial values as array of at least 9 elements.

Definition at line 49 of file fMatrix3.h.

◆ fMat33() [3/6]

fMat33::fMat33 ( double ini )

inline

Constructor with the same initial diagonal value.

Constructor with initial diagonal values.

Definition at line 61 of file fMatrix3.h.

◆ fMat33() [4/6]

fMat33::fMat33	(	double	_m11,
		double	_m12,
		double	_m13,
		double	_m21,
		double	_m22,
		double	_m23,
		double	_m31,
		double	_m32,
		double	_m33
	)

inline

Constructor with all values.

Definition at line 74 of file fMatrix3.h.

◆ fMat33() [5/6]

fMat33::fMat33	(	double	d1,
		double	d2,
		double	d3
	)

inline

Constructor with diagonal values.

Definition at line 88 of file fMatrix3.h.

◆ fMat33() [6/6]

fMat33::fMat33 ( const fMat33 & ini )

inline

Copy constructor.

Definition at line 100 of file fMatrix3.h.

◆ ~fMat33()

fMat33::~fMat33 ( )

inline

Destructor.

Definition at line 116 of file fMatrix3.h.

Member Function Documentation

◆ add() [1/2]

void fMat33::add	(	const fMat33 &	mat1,
		const fMat33 &	mat2
	)

Definition at line 655 of file fMatrix3.cpp.

◆ add() [2/2]

void fMat33::add ( const fMat33 & mat )

Definition at line 668 of file fMatrix3.cpp.

◆ cross()

void fMat33::cross ( const fVec3 & p )

Sets spectial matrices.

Cross product matrix.

Definition at line 217 of file fMatrix3.cpp.

◆ data()

double* fMat33::data ( )

inline

Pointer to the first element.

Definition at line 158 of file fMatrix3.h.

◆ diag()

void fMat33::diag	(	double	v1,
		double	v2,
		double	v3
	)

Diagonal matrix.

Definition at line 224 of file fMatrix3.cpp.

◆ div()

void fMat33::div	(	const fMat33 &	mat,
		double	d
	)

Definition at line 746 of file fMatrix3.cpp.

◆ ea2mat_xyz()

void fMat33::ea2mat_xyz ( const fVec3 & ea )

Converts from Euler angles.

Euler angles to matrix

Definition at line 23 of file fMatrix3.cpp.

◆ ea2mat_xzy()

void fMat33::ea2mat_xzy ( const fVec3 & ea )

Euler angles to matrix.

Definition at line 56 of file fMatrix3.cpp.

◆ ea2mat_yzx()

void fMat33::ea2mat_yzx ( const fVec3 & ea )

Euler angles to matrix.

Definition at line 122 of file fMatrix3.cpp.

◆ ea2mat_zyx()

void fMat33::ea2mat_zyx ( const fVec3 & ea )

Euler angles to matrix.

Definition at line 89 of file fMatrix3.cpp.

◆ identity()

void fMat33::identity ( )

Identity matrix.

Definition at line 230 of file fMatrix3.cpp.

◆ mat2rot()

void fMat33::mat2rot	(	fVec3 &	axis,
		double &	angle
	)		const

Definition at line 253 of file fMatrix3.cpp.

◆ mul() [1/4]

void fMat33::mul	(	const fMat33 &	mat1,
		const fMat33 &	mat2
	)

Definition at line 694 of file fMatrix3.cpp.

◆ mul() [2/4]

void fMat33::mul	(	double	d,
		const fMat33 &	mat
	)

Definition at line 707 of file fMatrix3.cpp.

◆ mul() [3/4]

void fMat33::mul	(	const fMat33 &	mat,
		double	d
	)

Definition at line 720 of file fMatrix3.cpp.

◆ mul() [4/4]

void fMat33::mul	(	const fVec3 &	v1,
		const fVec3 &	v2
	)

Definition at line 733 of file fMatrix3.cpp.

◆ neg()

void fMat33::neg ( const fMat33 & mat )

Functions for basic operations.

Definition at line 648 of file fMatrix3.cpp.

◆ operator double *()

fMat33::operator double * ( )

inline

Converts to an array.

Definition at line 154 of file fMatrix3.h.

◆ operator()() [1/2]

double & fMat33::operator()	(	int	i,
		int	j
	)

The reference to the (i, j)-th element.

Definition at line 517 of file fMatrix3.cpp.

◆ operator()() [2/2]

double fMat33::operator()	(	int	i,
		int	j
	)		const

The value of the (i, j)-th element.

Definition at line 529 of file fMatrix3.cpp.

◆ operator*=()

void fMat33::operator*= ( double d )

Definition at line 443 of file fMatrix3.cpp.

◆ operator+=()

void fMat33::operator+= ( const fMat33 & mat )

Definition at line 417 of file fMatrix3.cpp.

◆ operator-=()

void fMat33::operator-= ( const fMat33 & mat )

Definition at line 430 of file fMatrix3.cpp.

◆ operator/=()

void fMat33::operator/= ( double d )

Definition at line 450 of file fMatrix3.cpp.

◆ operator=() [1/2]

fMat33 fMat33::operator= ( const fMat33 & mat )

Assignment operator.

Definition at line 380 of file fMatrix3.cpp.

◆ operator=() [2/2]

void fMat33::operator= ( double d )

Set the same value to the diagonal elements.

Definition at line 394 of file fMatrix3.cpp.

◆ operator[]()

double fMat33::operator[] ( int i ) const

inline

Value of the i-th element in the array.

Definition at line 125 of file fMatrix3.h.

◆ rot2mat()

void fMat33::rot2mat	(	const fVec3 &	axis,
		double	angle
	)

Converts from/to equivalent rotation axis and angle.

Definition at line 362 of file fMatrix3.cpp.

◆ set() [1/2]

void fMat33::set ( const fMat33 & mat )

Copies a matrix.

Definition at line 623 of file fMatrix3.cpp.

◆ set() [2/2]

void fMat33::set ( const class fEulerPara & ep )

Convert from Euler parameter description.

◆ sub()

void fMat33::sub	(	const fMat33 &	mat1,
		const fMat33 &	mat2
	)

Definition at line 681 of file fMatrix3.cpp.

◆ tran()

void fMat33::tran ( const fMat33 & )

Sets the transpose.

◆ zero()

void fMat33::zero ( )

Zero matrix.

Definition at line 236 of file fMatrix3.cpp.

Friends And Related Function Documentation

◆ fVec3

friend class fVec3

friend

Definition at line 31 of file fMatrix3.h.

◆ operator* [1/4]

fMat33 operator*	(	double	d,
		const fMat33 &	mat
	)

friend

Definition at line 487 of file fMatrix3.cpp.

◆ operator* [2/4]

fMat33 operator*	(	const fMat33 &	m1,
		const fMat33 &	m2
	)

friend

Definition at line 502 of file fMatrix3.cpp.

◆ operator* [3/4]

fVec3 operator*	(	const fMat33 &	m,
		const fVec3 &	v
	)

friend

Definition at line 565 of file fMatrix3.cpp.

◆ operator* [4/4]

fMat33 operator*	(	const fMat33 &	mat,
		double	d
	)

friend

Definition at line 574 of file fMatrix3.cpp.

◆ operator+

fMat33 operator+	(	const fMat33 &	mat1,
		const fMat33 &	mat2
	)

friend

Definition at line 457 of file fMatrix3.cpp.

◆ operator- [1/2]

fMat33 operator- ( const fMat33 & mat )

friend

Definition at line 402 of file fMatrix3.cpp.

◆ operator- [2/2]

fMat33 operator-	(	const fMat33 &	mat1,
		const fMat33 &	mat2
	)

friend

Definition at line 472 of file fMatrix3.cpp.

◆ operator/

fMat33 operator/	(	const fMat33 &	mat,
		double	d
	)

friend

Definition at line 589 of file fMatrix3.cpp.

◆ operator<<

HRPBASE_EXPORT ostream& operator<<	(	ostream &	ost,
		const fMat33 &	mat
	)

friend

Outputs the elements to a stream.

Definition at line 974 of file fMatrix3.cpp.

◆ tran

void fMat33::tran ( const fMat33 & m )

friend

Returns the transpose.

Definition at line 607 of file fMatrix3.cpp.

Member Data Documentation

◆ m11

double fMat33::m11

protected

Definition at line 195 of file fMatrix3.h.

◆ m12

double fMat33::m12

protected

Definition at line 196 of file fMatrix3.h.

◆ m13

double fMat33::m13

protected

Definition at line 197 of file fMatrix3.h.

◆ m21

double fMat33::m21

protected

Definition at line 195 of file fMatrix3.h.

◆ m22

double fMat33::m22

protected

Definition at line 196 of file fMatrix3.h.

◆ m23

double fMat33::m23

protected

Definition at line 197 of file fMatrix3.h.

◆ m31

double fMat33::m31

protected

Definition at line 195 of file fMatrix3.h.

◆ m32

double fMat33::m32

protected

Definition at line 196 of file fMatrix3.h.

◆ m33

double fMat33::m33

protected

Definition at line 197 of file fMatrix3.h.

◆ n_col

int fMat33::n_col

protected

Definition at line 199 of file fMatrix3.h.

◆ n_row

int fMat33::n_row

protected

Definition at line 199 of file fMatrix3.h.

◆ temp

double fMat33::temp

protected

Definition at line 198 of file fMatrix3.h.

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

Public Member Functions

Friends

Operators

Detailed Description

Constructor & Destructor Documentation

◆ fMat33() [1/6]

◆ fMat33() [2/6]

◆ fMat33() [3/6]

◆ fMat33() [4/6]

◆ fMat33() [5/6]

◆ fMat33() [6/6]

◆ ~fMat33()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ cross()

◆ data()

◆ diag()

◆ div()

◆ ea2mat_xyz()

◆ ea2mat_xzy()

◆ ea2mat_yzx()

◆ ea2mat_zyx()

◆ identity()

◆ mat2rot()

◆ mul() [1/4]

◆ mul() [2/4]

◆ mul() [3/4]

◆ mul() [4/4]

◆ neg()

◆ operator double *()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ operator/=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator[]()

◆ rot2mat()

◆ set() [1/2]

◆ set() [2/2]

◆ sub()

◆ tran()

◆ zero()

Friends And Related Function Documentation

◆ fVec3

◆ operator* [1/4]

◆ operator* [2/4]

◆ operator* [3/4]

◆ operator* [4/4]

◆ operator+

◆ operator- [1/2]

◆ operator- [2/2]

◆ operator/

◆ operator<<

◆ tran

Member Data Documentation

◆ m11

◆ m12

◆ m13

◆ m21

◆ m22

◆ m23

◆ m31

◆ m32

◆ m33

◆ n_col

◆ n_row

◆ temp