Public Member Functions | Public Attributes | Friends
Matrix3x3 Class Reference

#include <IceMatrix3x3.h>

List of all members.

Public Member Functions

inline_ void Add (const Matrix3x3 &mat)
 Add another matrix.
inline_ void Add (const Matrix3x3 &a, const Matrix3x3 &b)
inline_ void Copy (const Matrix3x3 &source)
 Copy from a Matrix3x3.
float Determinant () const
 Compute the determinant of the matrix. We use the rule of Sarrus.
Matrix3x3Exp (const Matrix3x3 &a)
 this = exp(a)
void FromQuat (const Quat &q)
void FromQuatL2 (const Quat &q, float l2)
Matrix3x3FromTo (const Point &from, const Point &to)
 Makes a rotation matrix mapping vector "from" to vector "to".
inline_ void GetCol (const udword c, Point &p) const
 Returns a column.
inline_ void GetRow (const udword r, Point &p) const
 Returns a row.
inline_ const PointGetRow (const udword r) const
 Returns a row.
inline_ PointGetRow (const udword r)
 Returns a row.
inline_ void Identity ()
 Sets the identity matrix.
Matrix3x3Invert ()
 Invert the matrix. Determinant must be different from zero, else matrix can't be inverted.
inline_ bool IsIdentity () const
 Checks for identity.
inline_ BOOL IsValid () const
 Checks matrix validity.
inline_ void Mac (const Matrix3x3 &a, const Matrix3x3 &b, float s)
 Mac.
inline_ void Mac (const Matrix3x3 &a, float s)
 Mac.
inline_ Matrix3x3 ()
 Empty constructor.
inline_ Matrix3x3 (float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
 Constructor from 9 values.
inline_ Matrix3x3 (const Matrix3x3 &mat)
 Copy constructor.
inline_ void Mult (const Matrix3x3 &a, float s)
 this = A * s
inline_ void Mult (const Matrix3x3 &a, const Matrix3x3 &b)
 this = a * b
inline_ void MultABt (const Matrix3x3 &a, const Matrix3x3 &b)
 this = a * transpose(b)
inline_ void MultAtB (const Matrix3x3 &a, const Matrix3x3 &b)
 this = transpose(a) * b
inline_ void Neg ()
 Negates the matrix.
inline_ void Neg (const Matrix3x3 &mat)
 Neg from another matrix.
Matrix3x3Normalize ()
 operator Matrix4x4 () const
 Cast a Matrix3x3 to a Matrix4x4.
 operator Quat () const
 Cast a Matrix3x3 to a Quat.
inline_ Matrix3x3 operator* (const Matrix3x3 &mat) const
 Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3;.
inline_ Point operator* (const Point &v) const
 Operator for Point Mul = Matrix3x3 * Point;.
inline_ Matrix3x3 operator* (float s) const
 Operator for Matrix3x3 Mul = Matrix3x3 * float;.
inline_ Matrix3x3operator*= (const Matrix3x3 &mat)
 Operator for Matrix3x3 *= Matrix3x3.
inline_ Matrix3x3operator*= (float s)
 Operator for Matrix3x3 *= float.
inline_ Matrix3x3 operator+ (const Matrix3x3 &mat) const
 Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3;.
inline_ Matrix3x3operator+= (const Matrix3x3 &mat)
 Operator for Matrix3x3 += Matrix3x3.
inline_ Matrix3x3 operator- (const Matrix3x3 &mat) const
 Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3;.
inline_ Matrix3x3operator-= (const Matrix3x3 &mat)
 Operator for Matrix3x3 -= Matrix3x3.
inline_ Matrix3x3 operator/ (float s) const
 Operator for Matrix3x3 Div = Matrix3x3 / float;.
inline_ Matrix3x3operator/= (float s)
 Operator for Matrix3x3 /= float.
inline_ const Pointoperator[] (int row) const
inline_ Pointoperator[] (int row)
Matrix3x3Rot (float angle, const Point &axis)
 Make a rotation matrix about an arbitrary axis.
void RotX (float angle)
void RotY (float angle)
void RotYX (float y, float x)
void RotZ (float angle)
inline_ void Scale (const Point &p)
 Scales from a Point. Each row is multiplied by a component.
inline_ void Scale (float sx, float sy, float sz)
 Scales from floats. Each row is multiplied by a value.
inline_ void Set (float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
 Assign values.
inline_ void SetCol (const udword c, const Point &p)
 Sets a column.
inline_ void SetRow (const udword r, const Point &p)
 Sets a row.
inline_ void SetScale (const Point &p)
 Sets the scale from a Point. The point is put on the diagonal.
inline_ void SetScale (float sx, float sy, float sz)
 Sets the scale from floats. Values are put on the diagonal.
inline_ void SkewSymmetric (const Point &a)
inline_ void Sub (const Matrix3x3 &mat)
 Sub another matrix.
inline_ void Sub (const Matrix3x3 &a, const Matrix3x3 &b)
inline_ float Trace () const
 Computes the trace. The trace is the sum of the 3 diagonal components.
void Transpose ()
 Transpose the matrix.
void Transpose (const Matrix3x3 &a)
 this = Transpose(a)
inline_ void Zero ()
 Clears the matrix.
inline_ ~Matrix3x3 ()
 Destructor.

Public Attributes

float m [3][3]

Friends

inline_ friend Matrix3x3 operator* (float s, const Matrix3x3 &mat)
 Operator for Matrix3x3 Mul = float * Matrix3x3;.
inline_ friend Matrix3x3 operator/ (float s, const Matrix3x3 &mat)
 Operator for Matrix3x3 Div = float / Matrix3x3;.

Detailed Description

3x3 matrix. DirectX-compliant, ie row-column order, ie m[Row][Col]. Same as: m11 m12 m13 first row. m21 m22 m23 second row. m31 m32 m33 third row. Stored in memory as m11 m12 m13 m21...

Multiplication rules:

[x'y'z'] = [xyz][M]

x' = x*m11 + y*m21 + z*m31 y' = x*m12 + y*m22 + z*m32 z' = x*m13 + y*m23 + z*m33

Author:
Pierre Terdiman
Version:
1.0

Definition at line 20 of file IceMatrix3x3.h.


Constructor & Destructor Documentation

Empty constructor.

Definition at line 24 of file IceMatrix3x3.h.

inline_ Matrix3x3::Matrix3x3 ( float  m00,
float  m01,
float  m02,
float  m10,
float  m11,
float  m12,
float  m20,
float  m21,
float  m22 
) [inline]

Constructor from 9 values.

Definition at line 26 of file IceMatrix3x3.h.

Copy constructor.

Definition at line 33 of file IceMatrix3x3.h.

Destructor.

Definition at line 35 of file IceMatrix3x3.h.


Member Function Documentation

inline_ void Matrix3x3::Add ( const Matrix3x3 mat) [inline]

Add another matrix.

Definition at line 159 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Add ( const Matrix3x3 a,
const Matrix3x3 b 
) [inline]

Definition at line 204 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Copy ( const Matrix3x3 source) [inline]

Copy from a Matrix3x3.

Definition at line 68 of file IceMatrix3x3.h.

float Matrix3x3::Determinant ( ) const [inline]

Compute the determinant of the matrix. We use the rule of Sarrus.

Definition at line 303 of file IceMatrix3x3.h.

this = exp(a)

void Matrix3x3::FromQuatL2 ( const Quat &  q,
float  l2 
)
Matrix3x3& Matrix3x3::FromTo ( const Point from,
const Point to 
)

Makes a rotation matrix mapping vector "from" to vector "to".

inline_ void Matrix3x3::GetCol ( const udword  c,
Point p 
) const [inline]

Returns a column.

Definition at line 80 of file IceMatrix3x3.h.

inline_ void Matrix3x3::GetRow ( const udword  r,
Point p 
) const [inline]

Returns a row.

Definition at line 72 of file IceMatrix3x3.h.

inline_ const Point& Matrix3x3::GetRow ( const udword  r) const [inline]

Returns a row.

Definition at line 74 of file IceMatrix3x3.h.

Returns a row.

Definition at line 76 of file IceMatrix3x3.h.

Sets the identity matrix.

Definition at line 89 of file IceMatrix3x3.h.

Invert the matrix. Determinant must be different from zero, else matrix can't be inverted.

Definition at line 317 of file IceMatrix3x3.h.

inline_ bool Matrix3x3::IsIdentity ( ) const [inline]

Checks for identity.

Definition at line 91 of file IceMatrix3x3.h.

inline_ BOOL Matrix3x3::IsValid ( ) const [inline]

Checks matrix validity.

Definition at line 109 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Mac ( const Matrix3x3 a,
const Matrix3x3 b,
float  s 
) [inline]

Mac.

Definition at line 174 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Mac ( const Matrix3x3 a,
float  s 
) [inline]

Mac.

Definition at line 189 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Mult ( const Matrix3x3 a,
float  s 
) [inline]

this = A * s

Definition at line 197 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Mult ( const Matrix3x3 a,
const Matrix3x3 b 
) [inline]

this = a * b

Definition at line 219 of file IceMatrix3x3.h.

this = a * transpose(b)

Definition at line 247 of file IceMatrix3x3.h.

this = transpose(a) * b

Definition at line 233 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Neg ( ) [inline]

Negates the matrix.

Definition at line 143 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Neg ( const Matrix3x3 mat) [inline]

Neg from another matrix.

Definition at line 151 of file IceMatrix3x3.h.

Matrix3x3::operator Matrix4x4 ( ) const

Cast a Matrix3x3 to a Matrix4x4.

Matrix3x3::operator Quat ( ) const

Cast a Matrix3x3 to a Quat.

inline_ Matrix3x3 Matrix3x3::operator* ( const Matrix3x3 mat) const [inline]

Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3;.

Definition at line 366 of file IceMatrix3x3.h.

inline_ Point Matrix3x3::operator* ( const Point v) const [inline]

Operator for Point Mul = Matrix3x3 * Point;.

Definition at line 383 of file IceMatrix3x3.h.

inline_ Matrix3x3 Matrix3x3::operator* ( float  s) const [inline]

Operator for Matrix3x3 Mul = Matrix3x3 * float;.

Definition at line 386 of file IceMatrix3x3.h.

inline_ Matrix3x3& Matrix3x3::operator*= ( const Matrix3x3 mat) [inline]

Operator for Matrix3x3 *= Matrix3x3.

Definition at line 441 of file IceMatrix3x3.h.

inline_ Matrix3x3& Matrix3x3::operator*= ( float  s) [inline]

Operator for Matrix3x3 *= float.

Definition at line 463 of file IceMatrix3x3.h.

inline_ Matrix3x3 Matrix3x3::operator+ ( const Matrix3x3 mat) const [inline]

Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3;.

Definition at line 348 of file IceMatrix3x3.h.

inline_ Matrix3x3& Matrix3x3::operator+= ( const Matrix3x3 mat) [inline]

Operator for Matrix3x3 += Matrix3x3.

Definition at line 423 of file IceMatrix3x3.h.

inline_ Matrix3x3 Matrix3x3::operator- ( const Matrix3x3 mat) const [inline]

Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3;.

Definition at line 357 of file IceMatrix3x3.h.

inline_ Matrix3x3& Matrix3x3::operator-= ( const Matrix3x3 mat) [inline]

Operator for Matrix3x3 -= Matrix3x3.

Definition at line 432 of file IceMatrix3x3.h.

inline_ Matrix3x3 Matrix3x3::operator/ ( float  s) const [inline]

Operator for Matrix3x3 Div = Matrix3x3 / float;.

Definition at line 404 of file IceMatrix3x3.h.

inline_ Matrix3x3& Matrix3x3::operator/= ( float  s) [inline]

Operator for Matrix3x3 /= float.

Definition at line 472 of file IceMatrix3x3.h.

inline_ const Point& Matrix3x3::operator[] ( int  row) const [inline]

Definition at line 487 of file IceMatrix3x3.h.

inline_ Point& Matrix3x3::operator[] ( int  row) [inline]

Definition at line 488 of file IceMatrix3x3.h.

Matrix3x3& Matrix3x3::Rot ( float  angle,
const Point axis 
)

Make a rotation matrix about an arbitrary axis.

void Matrix3x3::RotX ( float  angle)

Set a rotation matrix around the X axis. 1 0 0 RX = 0 cx sx 0 -sx cx

void Matrix3x3::RotY ( float  angle)

Set a rotation matrix around the Y axis. cy 0 -sy RY = 0 1 0 sy 0 cy

void Matrix3x3::RotYX ( float  y,
float  x 
)

cy sx.sy -sy.cx RY.RX 0 cx sx sy -sx.cy cx.cy

void Matrix3x3::RotZ ( float  angle)

Set a rotation matrix around the Z axis. cz sz 0 RZ = -sz cz 0 0 0 1

Scales from a Point. Each row is multiplied by a component.

Definition at line 52 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Scale ( float  sx,
float  sy,
float  sz 
) [inline]

Scales from floats. Each row is multiplied by a value.

Definition at line 60 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Set ( float  m00,
float  m01,
float  m02,
float  m10,
float  m11,
float  m12,
float  m20,
float  m21,
float  m22 
) [inline]

Assign values.

Definition at line 38 of file IceMatrix3x3.h.

inline_ void Matrix3x3::SetCol ( const udword  c,
const Point p 
) [inline]

Sets a column.

Definition at line 82 of file IceMatrix3x3.h.

inline_ void Matrix3x3::SetRow ( const udword  r,
const Point p 
) [inline]

Sets a row.

Definition at line 78 of file IceMatrix3x3.h.

Sets the scale from a Point. The point is put on the diagonal.

Definition at line 46 of file IceMatrix3x3.h.

inline_ void Matrix3x3::SetScale ( float  sx,
float  sy,
float  sz 
) [inline]

Sets the scale from floats. Values are put on the diagonal.

Definition at line 49 of file IceMatrix3x3.h.

Makes a skew-symmetric matrix (a.k.a. Star(*) Matrix) [ 0.0 -a.z a.y ] [ a.z 0.0 -a.x ] [ -a.y a.x 0.0 ] This is also called a "cross matrix" since for any vectors A and B, A^B = Skew(A) * B = - B * Skew(A);

Definition at line 127 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Sub ( const Matrix3x3 mat) [inline]

Sub another matrix.

Definition at line 167 of file IceMatrix3x3.h.

inline_ void Matrix3x3::Sub ( const Matrix3x3 a,
const Matrix3x3 b 
) [inline]

Definition at line 211 of file IceMatrix3x3.h.

inline_ float Matrix3x3::Trace ( ) const [inline]

Computes the trace. The trace is the sum of the 3 diagonal components.

Definition at line 85 of file IceMatrix3x3.h.

void Matrix3x3::Transpose ( ) [inline]

Transpose the matrix.

Definition at line 287 of file IceMatrix3x3.h.

this = Transpose(a)

Definition at line 295 of file IceMatrix3x3.h.

Clears the matrix.

Definition at line 87 of file IceMatrix3x3.h.


Friends And Related Function Documentation

inline_ friend Matrix3x3 operator* ( float  s,
const Matrix3x3 mat 
) [friend]

Operator for Matrix3x3 Mul = float * Matrix3x3;.

Definition at line 395 of file IceMatrix3x3.h.

inline_ friend Matrix3x3 operator/ ( float  s,
const Matrix3x3 mat 
) [friend]

Operator for Matrix3x3 Div = float / Matrix3x3;.

Definition at line 414 of file IceMatrix3x3.h.


Member Data Documentation

float Matrix3x3::m[3][3]

Definition at line 492 of file IceMatrix3x3.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:44:00