karto::Matrix3 Class Reference

#include <Geometry.h>

Public Member Functions
void	Clear ()
void	FromAxisAngle (kt_double x, kt_double y, kt_double z, const kt_double radians)
Matrix3	Inverse () const
	Matrix3 ()
	Matrix3 (const Matrix3 &rOther)
kt_double &	operator() (kt_int32u row, kt_int32u column)
kt_double	operator() (kt_int32u row, kt_int32u column) const
Matrix3	operator* (const Matrix3 &rOther) const
Pose2	operator* (const Pose2 &rPose2) const
void	operator+= (const Matrix3 &rkMatrix)
Matrix3 &	operator= (const Matrix3 &rOther)
kt_bool	operator== (const Matrix3 &rkMatrix)
void	SetToIdentity ()
const String	ToString () const
Matrix3	Transpose () const

Private Member Functions
kt_bool	InverseFast (Matrix3 &rkInverse, kt_double fTolerance=KT_TOLERANCE) const

Private Attributes
kt_double	m_Matrix [3][3]

Friends
KARTO_FORCEINLINE std::ostream &	operator<< (std::ostream &rStream, const Matrix3 &rMatrix)

Detailed Description

Defines a 3x3 matrix

Definition at line 2557 of file Geometry.h.

Constructor & Destructor Documentation

karto::Matrix3::Matrix3 ( )

inline

Matrix with all elements as 0

Definition at line 2563 of file Geometry.h.

karto::Matrix3::Matrix3 ( const Matrix3 &  rOther )

inline

Copy constructor

Definition at line 2571 of file Geometry.h.

Member Function Documentation

void karto::Matrix3::Clear ( )

inline

Sets this matrix to zero matrix

Definition at line 2593 of file Geometry.h.

void karto::Matrix3::FromAxisAngle ( kt_double  x, kt_double  y, kt_double  z, const kt_double  radians  )

inline

Sets this matrix to be the rotation matrix of a rotation around the given axis

Parameters

x	x-coordinate of axis
y	y-coordinate of axis
z	z-coordinate of axis
radians	amount of rotation

Definition at line 2605 of file Geometry.h.

Matrix3 karto::Matrix3::Inverse ( ) const

inline

Returns the inverse of the matrix

Returns

matrix inverse

Definition at line 2659 of file Geometry.h.

kt_bool karto::Matrix3::InverseFast ( Matrix3 &  rkInverse, kt_double  fTolerance = KT_TOLERANCE  ) const

inlineprivate

Internal helper method for inverse matrix calculation This code is from the OgreMatrix3 class

Parameters

rkInverse	output parameter
fTolerance	tolerance

Returns

whether this matrix was successfully inverted; if so, the inverse will be in rkInverse

Definition at line 2805 of file Geometry.h.

kt_double& karto::Matrix3::operator() ( kt_int32u  row, kt_int32u  column  )

inline

Matrix element access, allows use of construct mat(r, c)

Parameters

row	row
column	column

Returns

reference to mat(r,c)

Definition at line 2706 of file Geometry.h.

kt_double karto::Matrix3::operator() ( kt_int32u  row, kt_int32u  column  ) const

inline

Read-only matrix element access, allows use of construct mat(r, c)

Parameters

row	row
column	column

Returns

element at mat(r,c)

Definition at line 2717 of file Geometry.h.

Matrix3 karto::Matrix3::operator* ( const Matrix3 &  rOther ) const

inline

Matrix multiplication

Definition at line 2725 of file Geometry.h.

Pose2 karto::Matrix3::operator* ( const Pose2 &  rPose2 ) const

inline

Matrix3 and Pose2 multiplication: matrix * pose [3x3 * 3x1 = 3x1]

Definition at line 2743 of file Geometry.h.

void karto::Matrix3::operator+= ( const Matrix3 &  rkMatrix )

inline

In-place matrix addition

Definition at line 2757 of file Geometry.h.

Matrix3& karto::Matrix3::operator= ( const Matrix3 &  rOther )

inline

Assignment operator

Definition at line 2694 of file Geometry.h.

kt_bool karto::Matrix3::operator== ( const Matrix3 &  rkMatrix )

inline

Equality operator

Definition at line 2771 of file Geometry.h.

void karto::Matrix3::SetToIdentity ( )

inline

Sets this matrix to the identity matrix

Definition at line 2580 of file Geometry.h.

const String karto::Matrix3::ToString ( ) const

inline

Returns a string representation of this matrix

Returns

string representation of this matrix

Definition at line 2674 of file Geometry.h.

Matrix3 karto::Matrix3::Transpose ( ) const

inline

Returns transposed version of this matrix

Returns

transposed matrix

Definition at line 2640 of file Geometry.h.

Friends And Related Function Documentation

KARTO_FORCEINLINE std::ostream& operator<< ( std::ostream &  rStream, const Matrix3 &  rMatrix  )

friend

Write matrix onto output stream

Definition at line 2790 of file Geometry.h.

Member Data Documentation

kt_double karto::Matrix3::m_Matrix[3][3]

private

Definition at line 2839 of file Geometry.h.

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

• Geometry.h