mat3 Class Reference

A 3x3 matrix most often used for storing rotations. More...

#include <matvec3D.h>

Public Member Functions
double	determinant () const
double &	element (int i, int j)
const double &	element (int i, int j) const
mat3	inverse () const
	mat3 (const vec3 &v1, const vec3 &v2, const vec3 &v3)
	mat3 (const Quaternion &q)
	mat3 (const double M[9])
	mat3 ()
mat3 const &	operator*= (mat3 const &m)
mat3 const &	operator+= (mat3 const &v)
double &	operator[] (int i)
const double &	operator[] (int i) const
vec3	row (int i) const
void	set (const vec3 &v1, const vec3 &v2, const vec3 &v3)
void	set (const Quaternion &q)
void	set (const double M[9])
void	setCrossProductMatrix (const vec3 &v)
void	ToEulerAngles (double &roll, double &pitch, double &yaw) const
mat3	transpose () const
Static Public Attributes
static const mat3	IDENTITY
	A 3x3 identity matrix.
static const mat3	ZERO
	A 3x3 zero matrix.
Private Attributes
double	mat [9]
	Storage for the matrix.
Friends
mat3	operator* (double const &s, mat3 const &m)
mat3	operator* (mat3 const &m1, mat3 const &m2)
vec3	operator* (vec3 const &v, mat3 const &m)
vec3	operator* (mat3 const &m, vec3 const &v)
std::ostream &	operator<< (std::ostream &os, const mat3 &m)
std::istream &	operator>> (std::istream &is, mat3 &m)

Detailed Description

A 3x3 matrix most often used for storing rotations.

The matrix is stored as a column-major array.

Definition at line 265 of file matvec3D.h.

Constructor & Destructor Documentation

mat3::mat3 ( ) [inline]

Default constructor, matrix is uninitialized.

Definition at line 273 of file matvec3D.h.

mat3::mat3 ( const double M[9] ) [inline]

Copy constructor.

Definition at line 276 of file matvec3D.h.

mat3::mat3 ( const Quaternion & q ) [inline]

Initializes the rotation matrix using the quaternion q.

Definition at line 279 of file matvec3D.h.

mat3::mat3	(	const vec3 &	v1,
		const vec3 &	v2,
		const vec3 &	v3
	)			`[inline]`

Initializes the rotation matrix using the three column vectors v1, v2, v3.

Definition at line 283 of file matvec3D.h.

Member Function Documentation

double mat3::determinant ( ) const [inline]

Returns the determinant of the matrix.

Definition at line 990 of file matvec3D.h.

double& mat3::element	(	int	i,
		int	j
	)			`[inline]`

Return a reference to matrix element at row i, col j.

Definition at line 299 of file matvec3D.h.

const double& mat3::element	(	int	i,
		int	j
	)			const `[inline]`

Return a constant reference to matrix element at row i, col j.

Definition at line 296 of file matvec3D.h.

mat3 mat3::inverse ( ) const

Inverts a 3x3 matrix (does not assume matrix is orthonormal)

Definition at line 107 of file matvec.cpp.

mat3 const & mat3::operator*= ( mat3 const & m )

Returns this matrix post-multiplied with the matrix m.

Definition at line 130 of file matvec.cpp.

mat3 const & mat3::operator+= ( mat3 const & m ) [inline]

Adds matrix m to this matrix.

Definition at line 1038 of file matvec3D.h.

double& mat3::operator[] ( int i ) [inline]

Return a reference to the i-th element (in column major order) of the matrix.

Definition at line 306 of file matvec3D.h.

const double& mat3::operator[] ( int i ) const [inline]

Return a constant reference to the i-th element (in column major order) of the matrix.

Definition at line 303 of file matvec3D.h.

vec3 mat3::row ( int i ) const [inline]

Return a copy of the i-th row of the matrix as a vector.

Definition at line 309 of file matvec3D.h.

void mat3::set	(	const vec3 &	v1,
		const vec3 &	v2,
		const vec3 &	v3
	)			`[inline]`

Value of the mat3 is set using the 3 column vectors v1, v2, v3.

Definition at line 961 of file matvec3D.h.

void mat3::set ( const Quaternion & q ) [inline]

Converts a quaternion to a 3x3 rotation matrix and sets the mat3 to this value.

Definition at line 939 of file matvec3D.h.

void mat3::set ( const double M[9] ) [inline]

Copies the matrix M.

Definition at line 286 of file matvec3D.h.

void mat3::setCrossProductMatrix ( const vec3 & v ) [inline]

This matrix becomes the cross product matrix for the given vector. In other words, multiplying a second vector v2 with this matrix is equivalent with perrforming the cross product v2 * v

Definition at line 972 of file matvec3D.h.

void mat3::ToEulerAngles	(	double &	roll,
		double &	pitch,
		double &	yaw
	)			const

Converts a rotation matrix to the Euler angles roll, pitch, and yaw.

Definition at line 86 of file matvec.cpp.

mat3 mat3::transpose ( ) const [inline]

Returns a mat3 that is the transpose of this one.

Definition at line 999 of file matvec3D.h.

Friends And Related Function Documentation

mat3 operator*	(	double const &	s,
		mat3 const &	m
	)			`[friend]`

Scales matrix m by the scalar s.

Definition at line 1020 of file matvec3D.h.

mat3 operator*	(	mat3 const &	m1,
		mat3 const &	m2
	)			`[friend]`

Returns the product of m1 * m2.

Definition at line 151 of file matvec.cpp.

vec3 operator*	(	vec3 const &	v,
		mat3 const &	m
	)			`[friend]`

vec3 operator*	(	mat3 const &	m,
		vec3 const &	v
	)			`[friend]`

Definition at line 727 of file matvec3D.h.

std::ostream& operator<<	(	std::ostream &	os,
		const mat3 &	m
	)			`[friend]`

Writes the matrix out on 3 lines in the following format:

[ # # #]
[ # # #]
[ # # #]

Definition at line 497 of file matvec.cpp.

std::istream& operator>>	(	std::istream &	is,
		mat3 &	m
	)			`[friend]`

Reads the 9 consecutive values of a 3x3 matrix in column major format.

Definition at line 480 of file matvec.cpp.

Member Data Documentation

const mat3 mat3::IDENTITY [static]

A 3x3 identity matrix.

Definition at line 332 of file matvec3D.h.

double mat3::mat[9] [private]

Storage for the matrix.

Definition at line 268 of file matvec3D.h.

const mat3 mat3::ZERO [static]

A 3x3 zero matrix.

Definition at line 329 of file matvec3D.h.

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

/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/matvec3D.h
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/matvec.cpp

mat3 Class Reference

Public Member Functions

Static Public Attributes

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation