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
Matrix3x3	absolute () const
	Return the matrix with all values non negative. More...

Matrix3x3	adjoint () const
	Return the adjoint of the matrix. More...

tf2Scalar	cofac (int r1, int c1, int r2, int c2) const
	Calculate the matrix cofactor. More...

void	deSerialize (const struct Matrix3x3Data &dataIn)

void	deSerializeDouble (const struct Matrix3x3DoubleData &dataIn)

void	deSerializeFloat (const struct Matrix3x3FloatData &dataIn)

tf2Scalar	determinant () const
	Return the determinant of the matrix. More...

void	diagonalize (Matrix3x3 &rot, tf2Scalar threshold, int maxSteps)
	diagonalizes this matrix by the Jacobi method. More...

TF2SIMD_FORCE_INLINE Vector3	getColumn (int i) const
	Get a column of the matrix as a vector. More...

void	getEulerYPR (tf2Scalar &yaw, tf2Scalar &pitch, tf2Scalar &roll, unsigned int solution_number=1) const
	Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR. More...

ROS_DEPRECATED void	getEulerZYX (tf2Scalar &yaw, tf2Scalar &pitch, tf2Scalar &roll, unsigned int solution_number=1) const
	Get the matrix represented as euler angles around ZYX. More...

void	getOpenGLSubMatrix (tf2Scalar *m) const
	Fill the values of the matrix into a 9 element array. More...

void	getRotation (Quaternion &q) const
	Get the matrix represented as a quaternion. More...

TF2SIMD_FORCE_INLINE const Vector3 &	getRow (int i) const
	Get a row of the matrix as a vector. More...

void	getRPY (tf2Scalar &roll, tf2Scalar &pitch, tf2Scalar &yaw, unsigned int solution_number=1) const
	Get the matrix represented as roll pitch and yaw about fixed axes XYZ. More...

Matrix3x3	inverse () const
	Return the inverse of the matrix. More...

	Matrix3x3 ()
	No initializaion constructor. More...

	Matrix3x3 (const Quaternion &q)
	Constructor from Quaternion. More...

	Matrix3x3 (const tf2Scalar &xx, const tf2Scalar &xy, const tf2Scalar &xz, const tf2Scalar &yx, const tf2Scalar &yy, const tf2Scalar &yz, const tf2Scalar &zx, const tf2Scalar &zy, const tf2Scalar &zz)
	Constructor with row major formatting. More...

TF2SIMD_FORCE_INLINE	Matrix3x3 (const Matrix3x3 &other)
	Copy constructor. More...

Matrix3x3 &	operator*= (const Matrix3x3 &m)
	Multiply by the target matrix on the right. More...

TF2SIMD_FORCE_INLINE Matrix3x3 &	operator= (const Matrix3x3 &other)
	Assignment Operator. More...

TF2SIMD_FORCE_INLINE Vector3 &	operator[] (int i)
	Get a mutable reference to a row of the matrix as a vector. More...

TF2SIMD_FORCE_INLINE const Vector3 &	operator[] (int i) const
	Get a const reference to a row of the matrix as a vector. More...

Matrix3x3	scaled (const Vector3 &s) const
	Create a scaled copy of the matrix. More...

void	serialize (struct Matrix3x3Data &dataOut) const

void	serializeFloat (struct Matrix3x3FloatData &dataOut) const

void	setEulerYPR (tf2Scalar eulerZ, tf2Scalar eulerY, tf2Scalar eulerX)
	Set the matrix from euler angles YPR around ZYX axes. More...

ROS_DEPRECATED void	setEulerZYX (const tf2Scalar &yaw, const tf2Scalar &pitch, const tf2Scalar &roll)
	Set the matrix from euler angles using YPR around ZYX respectively. More...

void	setFromOpenGLSubMatrix (const tf2Scalar *m)
	Set from a carray of tf2Scalars. More...

void	setIdentity ()
	Set the matrix to the identity. More...

void	setRotation (const Quaternion &q)
	Set the matrix from a quaternion. More...

void	setRPY (tf2Scalar roll, tf2Scalar pitch, tf2Scalar yaw)
	Set the matrix using RPY about XYZ fixed axes. More...

void	setValue (const tf2Scalar &xx, const tf2Scalar &xy, const tf2Scalar &xz, const tf2Scalar &yx, const tf2Scalar &yy, const tf2Scalar &yz, const tf2Scalar &zx, const tf2Scalar &zy, const tf2Scalar &zz)
	Set the values of the matrix explicitly (row major) More...

TF2SIMD_FORCE_INLINE tf2Scalar	tdotx (const Vector3 &v) const

TF2SIMD_FORCE_INLINE tf2Scalar	tdoty (const Vector3 &v) const

TF2SIMD_FORCE_INLINE tf2Scalar	tdotz (const Vector3 &v) const

Matrix3x3	timesTranspose (const Matrix3x3 &m) const

Matrix3x3	transpose () const
	Return the transpose of the matrix. More...

Matrix3x3	transposeTimes (const Matrix3x3 &m) const

Static Public Member Functions
static const Matrix3x3 &	getIdentity ()

Private Attributes
Vector3	m_el [3]
	Data storage for the matrix, each vector is a row of the matrix. More...

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 33 of file Matrix3x3.h.

Constructor & Destructor Documentation

◆ Matrix3x3() [1/4]

tf2::Matrix3x3::Matrix3x3 ( )

inline

No initializaion constructor.

Definition at line 40 of file Matrix3x3.h.

◆ Matrix3x3() [2/4]

tf2::Matrix3x3::Matrix3x3 ( const Quaternion & q )

inlineexplicit

Constructor from Quaternion.

Definition at line 45 of file Matrix3x3.h.

◆ Matrix3x3() [3/4]

tf2::Matrix3x3::Matrix3x3	(	const tf2Scalar &	xx,
		const tf2Scalar &	xy,
		const tf2Scalar &	xz,
		const tf2Scalar &	yx,
		const tf2Scalar &	yy,
		const tf2Scalar &	yz,
		const tf2Scalar &	zx,
		const tf2Scalar &	zy,
		const tf2Scalar &	zz
	)

inline

Constructor with row major formatting.

Definition at line 54 of file Matrix3x3.h.

◆ Matrix3x3() [4/4]

TF2SIMD_FORCE_INLINE tf2::Matrix3x3::Matrix3x3 ( const Matrix3x3 & other )

inline

Copy constructor.

Definition at line 63 of file Matrix3x3.h.

Member Function Documentation

◆ absolute()

TF2SIMD_FORCE_INLINE Matrix3x3 tf2::Matrix3x3::absolute ( ) const

Return the matrix with all values non negative.

Definition at line 541 of file Matrix3x3.h.

◆ adjoint()

TF2SIMD_FORCE_INLINE Matrix3x3 tf2::Matrix3x3::adjoint ( ) const

Return the adjoint of the matrix.

Definition at line 558 of file Matrix3x3.h.

◆ cofac()

tf2Scalar tf2::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 506 of file Matrix3x3.h.

◆ deSerialize()

TF2SIMD_FORCE_INLINE void tf2::Matrix3x3::deSerialize ( const struct Matrix3x3Data & dataIn )

Definition at line 676 of file Matrix3x3.h.

◆ deSerializeDouble()

TF2SIMD_FORCE_INLINE void tf2::Matrix3x3::deSerializeDouble ( const struct Matrix3x3DoubleData & dataIn )

Definition at line 688 of file Matrix3x3.h.

◆ deSerializeFloat()

TF2SIMD_FORCE_INLINE void tf2::Matrix3x3::deSerializeFloat ( const struct Matrix3x3FloatData & dataIn )

Definition at line 682 of file Matrix3x3.h.

◆ determinant()

TF2SIMD_FORCE_INLINE tf2Scalar tf2::Matrix3x3::determinant ( ) const

Return the determinant of the matrix.

Definition at line 534 of file Matrix3x3.h.

◆ diagonalize()

void tf2::Matrix3x3::diagonalize	(	Matrix3x3 &	rot,
		tf2Scalar	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 418 of file Matrix3x3.h.

◆ getColumn()

TF2SIMD_FORCE_INLINE Vector3 tf2::Matrix3x3::getColumn ( int i ) const

inline

Get a column of the matrix as a vector.

Parameters

i	Column number 0 indexed

Definition at line 83 of file Matrix3x3.h.

◆ getEulerYPR()

void tf2::Matrix3x3::getEulerYPR	(	tf2Scalar &	yaw,
		tf2Scalar &	pitch,
		tf2Scalar &	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 294 of file Matrix3x3.h.

◆ getEulerZYX()

ROS_DEPRECATED void tf2::Matrix3x3::getEulerZYX	(	tf2Scalar &	yaw,
		tf2Scalar &	pitch,
		tf2Scalar &	roll,
		unsigned int	solution_number = `1`
	)		const

inline

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

Definition at line 284 of file Matrix3x3.h.

◆ getIdentity()

static const Matrix3x3& tf2::Matrix3x3::getIdentity ( )

inlinestatic

Definition at line 217 of file Matrix3x3.h.

◆ getOpenGLSubMatrix()

void tf2::Matrix3x3::getOpenGLSubMatrix ( tf2Scalar * m ) const

inline

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

Parameters

m	The array to be filled

Definition at line 227 of file Matrix3x3.h.

◆ getRotation()

void tf2::Matrix3x3::getRotation ( Quaternion & q ) const

inline

Get the matrix represented as a quaternion.

Parameters

q	The quaternion which will be set

Definition at line 245 of file Matrix3x3.h.

◆ getRow()

TF2SIMD_FORCE_INLINE const Vector3& tf2::Matrix3x3::getRow ( int i ) const

inline

Get a row of the matrix as a vector.

Parameters

i	Row number 0 indexed

Definition at line 91 of file Matrix3x3.h.

◆ getRPY()

void tf2::Matrix3x3::getRPY	(	tf2Scalar &	roll,
		tf2Scalar &	pitch,
		tf2Scalar &	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 366 of file Matrix3x3.h.

◆ inverse()

TF2SIMD_FORCE_INLINE Matrix3x3 tf2::Matrix3x3::inverse ( ) const

Return the inverse of the matrix.

Definition at line 566 of file Matrix3x3.h.

◆ operator*=()

TF2SIMD_FORCE_INLINE Matrix3x3 & tf2::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 525 of file Matrix3x3.h.

◆ operator=()

TF2SIMD_FORCE_INLINE Matrix3x3& tf2::Matrix3x3::operator= ( const Matrix3x3 & other )

inline

Assignment Operator.

Definition at line 72 of file Matrix3x3.h.

◆ operator[]() [1/2]

TF2SIMD_FORCE_INLINE Vector3& tf2::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 99 of file Matrix3x3.h.

◆ operator[]() [2/2]

TF2SIMD_FORCE_INLINE const Vector3& tf2::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 107 of file Matrix3x3.h.

◆ scaled()

Matrix3x3 tf2::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 374 of file Matrix3x3.h.

◆ serialize()

TF2SIMD_FORCE_INLINE void tf2::Matrix3x3::serialize ( struct Matrix3x3Data & dataOut ) const

Definition at line 663 of file Matrix3x3.h.

◆ serializeFloat()

TF2SIMD_FORCE_INLINE void tf2::Matrix3x3::serializeFloat ( struct Matrix3x3FloatData & dataOut ) const

Definition at line 669 of file Matrix3x3.h.

◆ setEulerYPR()

void tf2::Matrix3x3::setEulerYPR	(	tf2Scalar	eulerZ,
		tf2Scalar	eulerY,
		tf2Scalar	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 182 of file Matrix3x3.h.

◆ setEulerZYX()

ROS_DEPRECATED void tf2::Matrix3x3::setEulerZYX	(	const tf2Scalar &	yaw,
		const tf2Scalar &	pitch,
		const tf2Scalar &	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 168 of file Matrix3x3.h.

◆ setFromOpenGLSubMatrix()

void tf2::Matrix3x3::setFromOpenGLSubMatrix ( const tf2Scalar * m )

inline

Set from a carray of tf2Scalars.

Parameters

m	A pointer to the beginning of an array of 9 tf2Scalars

Definition at line 120 of file Matrix3x3.h.

◆ setIdentity()

void tf2::Matrix3x3::setIdentity ( )

inline

Set the matrix to the identity.

Definition at line 210 of file Matrix3x3.h.

◆ setRotation()

void tf2::Matrix3x3::setRotation ( const Quaternion & q )

inline

Set the matrix from a quaternion.

Parameters

q	The Quaternion to match

Definition at line 148 of file Matrix3x3.h.

◆ setRPY()

void tf2::Matrix3x3::setRPY	(	tf2Scalar	roll,
		tf2Scalar	pitch,
		tf2Scalar	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 205 of file Matrix3x3.h.

◆ setValue()

void tf2::Matrix3x3::setValue	(	const tf2Scalar &	xx,
		const tf2Scalar &	xy,
		const tf2Scalar &	xz,
		const tf2Scalar &	yx,
		const tf2Scalar &	yy,
		const tf2Scalar &	yz,
		const tf2Scalar &	zx,
		const tf2Scalar &	zy,
		const tf2Scalar &	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 137 of file Matrix3x3.h.

◆ tdotx()

TF2SIMD_FORCE_INLINE tf2Scalar tf2::Matrix3x3::tdotx ( const Vector3 & v ) const

inline

Definition at line 395 of file Matrix3x3.h.

◆ tdoty()

TF2SIMD_FORCE_INLINE tf2Scalar tf2::Matrix3x3::tdoty ( const Vector3 & v ) const

inline

Definition at line 399 of file Matrix3x3.h.

◆ tdotz()

TF2SIMD_FORCE_INLINE tf2Scalar tf2::Matrix3x3::tdotz ( const Vector3 & v ) const

inline

Definition at line 403 of file Matrix3x3.h.

◆ timesTranspose()

TF2SIMD_FORCE_INLINE Matrix3x3 tf2::Matrix3x3::timesTranspose ( const Matrix3x3 & m ) const

Definition at line 593 of file Matrix3x3.h.

◆ transpose()

TF2SIMD_FORCE_INLINE Matrix3x3 tf2::Matrix3x3::transpose ( ) const

Return the transpose of the matrix.

Definition at line 550 of file Matrix3x3.h.

◆ transposeTimes()

TF2SIMD_FORCE_INLINE Matrix3x3 tf2::Matrix3x3::transposeTimes ( const Matrix3x3 & m ) const

Definition at line 578 of file Matrix3x3.h.

Member Data Documentation

◆ m_el

Vector3 tf2::Matrix3x3::m_el[3]

private

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

Definition at line 36 of file Matrix3x3.h.

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

Matrix3x3.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Matrix3x3() [1/4]

◆ Matrix3x3() [2/4]

◆ Matrix3x3() [3/4]

◆ Matrix3x3() [4/4]

Member Function Documentation

◆ absolute()

◆ adjoint()

◆ cofac()

◆ deSerialize()

◆ deSerializeDouble()

◆ deSerializeFloat()

◆ determinant()

◆ diagonalize()

◆ getColumn()

◆ getEulerYPR()

◆ getEulerZYX()

◆ getIdentity()

◆ getOpenGLSubMatrix()

◆ getRotation()

◆ getRow()

◆ getRPY()

◆ inverse()

◆ operator*=()

◆ operator=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ scaled()

◆ serialize()

◆ serializeFloat()

◆ setEulerYPR()

◆ setEulerZYX()

◆ setFromOpenGLSubMatrix()

◆ setIdentity()

◆ setRotation()

◆ setRPY()

◆ setValue()

◆ tdotx()

◆ tdoty()

◆ tdotz()

◆ timesTranspose()

◆ transpose()

◆ transposeTimes()

Member Data Documentation

◆ m_el