A 4x4 matrix class implementation for use with the provided vertex types. More...

#include <Matrix4.hpp>

Public Types
using	ValueType = typename BaseVecT::CoordType

Public Member Functions
ValueType	at (const int i) const
	Returns the element at the given index. More...

ValueType	det ()
	Returns the matrix's determinant. More...

ValueType *	getData ()
	Returns the internal data array. Unsafe. Will probably removed in one of the next versions. More...

std::vector< ValueType >	getVector ()

Matrix4< BaseVecT >	inv (bool &success)

void	loadFromFile (string filename)
	Loads matrix values from a given file. More...

	Matrix4 ()
	Default constructor. Initializes a identity matrix. More...

template<typename T >
	Matrix4 (T *matrix)
	Initializes a matrix wit the given data array. Ensure that the array has exactly 16 fields. More...

template<typename T >
	Matrix4 (const Matrix4< T > &other)
	Copy constructor. More...

template<typename T >
	Matrix4 (T axis, ValueType angle)
	Constructs a matrix from given axis and angle. Trys to avoid a gimbal lock. More...

template<typename T >
	Matrix4 (const T &position, const T &angles)

	Matrix4 (string filename)

Matrix4< BaseVecT >	operator* (const ValueType &scale) const
	Scales the matrix elemnts by the given factor. More...

template<typename T >
Matrix4< BaseVecT >	operator* (const Matrix4< T > &other) const
	Matrix-Matrix multiplication. Returns the new matrix. More...

template<typename T >
Matrix4< BaseVecT >	operator* (const T *&other) const
	Matrix-Matrix multiplication (array based). Mainly implemented for compatibility with other math libs. ensure that the used array has at least 16 elements to avoid memory access violations. More...

template<typename T >
T	operator* (const T &v) const
	Multiplication of Matrix and Vertex types. More...

template<typename T >
Normal< T >	operator* (const Normal< T > &v) const
	Multiplication of Matrix and Vertex types. More...

template<typename T >
void	operator*= (const T scale)
	Matrix scaling with self assignment. More...

template<typename T >
void	operator*= (const Matrix4< T > &other)
	Matrix-Matrix multiplication with self assigment. More...

template<typename T >
void	operator= (const T other)
	Matrix-Matrix multiplication (array based). See operator*}. More...

template<typename T >
Matrix4< BaseVecT >	operator+ (const Matrix4< T > &other) const
	Matrix addition operator. Returns a new matrix. More...

template<typename T >
Matrix4< BaseVecT >	operator+= (const Matrix4< T > &other)
	Matrix addition operator. More...

Matrix4 &	operator= (const Eigen::Matrix4d &mat)

ValueType	operator[] (const int index) const
	Indexed element (reading) access. More...

ValueType &	operator[] (const int index)
	Writeable index access. More...

void	set (int i, ValueType value)
	Sets the given index of the Matrix's data field to the provided value. More...

Eigen::Matrix4d	toEigenMatrix ()

floatArr	toFloatArray ()

void	toPostionAngle (ValueType pose[6])
	Computes an Euler representation (x, y, z) plus three rotation values in rad. Rotations are with respect to the x, y, z axes. More...

void	transpose ()
	Transposes the current matrix. More...

	~Matrix4 ()

Public Attributes
ValueType	m [16]

Private Member Functions
ValueType	det3 (const ValueType *M)
	Calculates the determinant of a 3x3 matrix. More...

void	submat (ValueType *submat, int i, int j)
	Returns a sub matrix without row i and column j. More...

Detailed Description

template<typename BaseVecT>
class lvr2::Matrix4< BaseVecT >

A 4x4 matrix class implementation for use with the provided vertex types.

Definition at line 64 of file Matrix4.hpp.

Member Typedef Documentation

◆ ValueType

template<typename BaseVecT>

using lvr2::Matrix4< BaseVecT >::ValueType = typename BaseVecT::CoordType

Definition at line 67 of file Matrix4.hpp.

Constructor & Destructor Documentation

◆ Matrix4() [1/6]

template<typename BaseVecT>

lvr2::Matrix4< BaseVecT >::Matrix4 ( )

inline

Default constructor. Initializes a identity matrix.

Definition at line 72 of file Matrix4.hpp.

◆ Matrix4() [2/6]

template<typename BaseVecT>

template<typename T >

lvr2::Matrix4< BaseVecT >::Matrix4 ( T * matrix )

inline

Initializes a matrix wit the given data array. Ensure that the array has exactly 16 fields.

Definition at line 83 of file Matrix4.hpp.

◆ Matrix4() [3/6]

template<typename BaseVecT>

template<typename T >

lvr2::Matrix4< BaseVecT >::Matrix4 ( const Matrix4< T > & other )

inline

Copy constructor.

Definition at line 92 of file Matrix4.hpp.

◆ Matrix4() [4/6]

template<typename BaseVecT>

template<typename T >

lvr2::Matrix4< BaseVecT >::Matrix4	(	T	axis,
		ValueType	angle
	)

inline

Constructs a matrix from given axis and angle. Trys to avoid a gimbal lock.

Definition at line 102 of file Matrix4.hpp.

◆ Matrix4() [5/6]

template<typename BaseVecT>

template<typename T >

lvr2::Matrix4< BaseVecT >::Matrix4	(	const T &	position,
		const T &	angles
	)

inline

Definition at line 176 of file Matrix4.hpp.

◆ Matrix4() [6/6]

template<typename BaseVecT>

lvr2::Matrix4< BaseVecT >::Matrix4 ( string filename )

◆ ~Matrix4()

template<typename BaseVecT>

lvr2::Matrix4< BaseVecT >::~Matrix4 ( )

inline

Definition at line 207 of file Matrix4.hpp.

Member Function Documentation

◆ at()

template<typename BaseVecT>

ValueType lvr2::Matrix4< BaseVecT >::at ( const int i ) const

Returns the element at the given index.

◆ det()

template<typename BaseVecT>

ValueType lvr2::Matrix4< BaseVecT >::det ( )

inline

Returns the matrix's determinant.

Definition at line 561 of file Matrix4.hpp.

◆ det3()

template<typename BaseVecT>

ValueType lvr2::Matrix4< BaseVecT >::det3 ( const ValueType * M )

inlineprivate

Calculates the determinant of a 3x3 matrix.

Parameters

M	input 3x3 matrix

Returns: determinant of input matrix

Definition at line 622 of file Matrix4.hpp.

◆ getData()

template<typename BaseVecT>

ValueType* lvr2::Matrix4< BaseVecT >::getData ( )

inline

Returns the internal data array. Unsafe. Will probably removed in one of the next versions.

Definition at line 513 of file Matrix4.hpp.

◆ getVector()

template<typename BaseVecT>

std::vector<ValueType> lvr2::Matrix4< BaseVecT >::getVector ( )

inline

Definition at line 525 of file Matrix4.hpp.

◆ inv()

template<typename BaseVecT>

Matrix4<BaseVecT> lvr2::Matrix4< BaseVecT >::inv ( bool & success )

inline

Definition at line 574 of file Matrix4.hpp.

◆ loadFromFile()

template<typename BaseVecT>

void lvr2::Matrix4< BaseVecT >::loadFromFile ( string filename )

inline

Loads matrix values from a given file.

Definition at line 470 of file Matrix4.hpp.

◆ operator*() [1/5]

template<typename BaseVecT>

Matrix4<BaseVecT> lvr2::Matrix4< BaseVecT >::operator* ( const ValueType & scale ) const

inline

Scales the matrix elemnts by the given factor.

Definition at line 267 of file Matrix4.hpp.

◆ operator*() [2/5]

template<typename BaseVecT>

template<typename T >

Matrix4<BaseVecT> lvr2::Matrix4< BaseVecT >::operator* ( const Matrix4< T > & other ) const

inline

Matrix-Matrix multiplication. Returns the new matrix.

Definition at line 281 of file Matrix4.hpp.

◆ operator*() [3/5]

template<typename BaseVecT>

template<typename T >

Matrix4<BaseVecT> lvr2::Matrix4< BaseVecT >::operator* ( const T *& other ) const

inline

Matrix-Matrix multiplication (array based). Mainly implemented for compatibility with other math libs. ensure that the used array has at least 16 elements to avoid memory access violations.

Definition at line 341 of file Matrix4.hpp.

◆ operator*() [4/5]

template<typename BaseVecT>

template<typename T >

T lvr2::Matrix4< BaseVecT >::operator* ( const T & v ) const

inline

Multiplication of Matrix and Vertex types.

Definition at line 367 of file Matrix4.hpp.

◆ operator*() [5/5]

template<typename BaseVecT>

template<typename T >

Normal<T> lvr2::Matrix4< BaseVecT >::operator* ( const Normal< T > & v ) const

inline

Multiplication of Matrix and Vertex types.

Definition at line 385 of file Matrix4.hpp.

◆ operator*=() [1/3]

template<typename BaseVecT>

template<typename T >

void lvr2::Matrix4< BaseVecT >::operator*= ( const T scale )

inline

Matrix scaling with self assignment.

Definition at line 486 of file Matrix4.hpp.

◆ operator*=() [2/3]

template<typename BaseVecT>

template<typename T >

void lvr2::Matrix4< BaseVecT >::operator*= ( const Matrix4< T > & other )

inline

Matrix-Matrix multiplication with self assigment.

Definition at line 495 of file Matrix4.hpp.

◆ operator*=() [3/3]

template<typename BaseVecT>

template<typename T >

void lvr2::Matrix4< BaseVecT >::operator*= ( const T * other )

inline

Matrix-Matrix multiplication (array based). See operator*}.

Definition at line 504 of file Matrix4.hpp.

◆ operator+()

template<typename BaseVecT>

template<typename T >

Matrix4<BaseVecT> lvr2::Matrix4< BaseVecT >::operator+ ( const Matrix4< T > & other ) const

inline

Matrix addition operator. Returns a new matrix.

Definition at line 308 of file Matrix4.hpp.

◆ operator+=()

template<typename BaseVecT>

template<typename T >

Matrix4<BaseVecT> lvr2::Matrix4< BaseVecT >::operator+= ( const Matrix4< T > & other )

inline

Matrix addition operator.

Definition at line 322 of file Matrix4.hpp.

◆ operator=()

template<typename BaseVecT>

Matrix4& lvr2::Matrix4< BaseVecT >::operator= ( const Eigen::Matrix4d & mat )

inline

Definition at line 212 of file Matrix4.hpp.

◆ operator[]() [1/2]

template<typename BaseVecT>

ValueType lvr2::Matrix4< BaseVecT >::operator[] ( const int index ) const

inline

Indexed element (reading) access.

TODO: Boundary check

Definition at line 543 of file Matrix4.hpp.

◆ operator[]() [2/2]

template<typename BaseVecT>

ValueType& lvr2::Matrix4< BaseVecT >::operator[] ( const int index )

inline

Writeable index access.

Definition at line 553 of file Matrix4.hpp.

◆ set()

template<typename BaseVecT>

void lvr2::Matrix4< BaseVecT >::set	(	int	i,
		ValueType	value
	)

inline

Sets the given index of the Matrix's data field to the provided value.

Parameters

i	Field index of the matrix
value	new value

Definition at line 401 of file Matrix4.hpp.

◆ submat()

template<typename BaseVecT>

void lvr2::Matrix4< BaseVecT >::submat	(	ValueType *	submat,
		int	i,
		int	j
	)

inlineprivate

Returns a sub matrix without row i and column j.

Definition at line 601 of file Matrix4.hpp.

◆ toEigenMatrix()

template<typename BaseVecT>

Eigen::Matrix4d lvr2::Matrix4< BaseVecT >::toEigenMatrix ( )

inline

Definition at line 237 of file Matrix4.hpp.

◆ toFloatArray()

template<typename BaseVecT>

floatArr lvr2::Matrix4< BaseVecT >::toFloatArray ( )

inline

Definition at line 515 of file Matrix4.hpp.

◆ toPostionAngle()

template<typename BaseVecT>

void lvr2::Matrix4< BaseVecT >::toPostionAngle ( ValueType pose[6] )

inline

Computes an Euler representation (x, y, z) plus three rotation values in rad. Rotations are with respect to the x, y, z axes.

Definition at line 433 of file Matrix4.hpp.

◆ transpose()

template<typename BaseVecT>

void lvr2::Matrix4< BaseVecT >::transpose ( )

inline

Transposes the current matrix.

Definition at line 406 of file Matrix4.hpp.

Member Data Documentation

◆ m

template<typename BaseVecT>

ValueType lvr2::Matrix4< BaseVecT >::m[16]

Definition at line 594 of file Matrix4.hpp.

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

Matrix4.hpp

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

template<typename BaseVecT> class lvr2::Matrix4< BaseVecT >

Member Typedef Documentation

◆ ValueType

Constructor & Destructor Documentation

◆ Matrix4() [1/6]

◆ Matrix4() [2/6]

◆ Matrix4() [3/6]

◆ Matrix4() [4/6]

◆ Matrix4() [5/6]

◆ Matrix4() [6/6]

◆ ~Matrix4()

Member Function Documentation

◆ at()

◆ det()

◆ det3()

◆ getData()

◆ getVector()

◆ inv()

◆ loadFromFile()

◆ operator*() [1/5]

◆ operator*() [2/5]

◆ operator*() [3/5]

◆ operator*() [4/5]

◆ operator*() [5/5]

◆ operator*=() [1/3]

◆ operator*=() [2/3]

◆ operator*=() [3/3]

◆ operator+()

◆ operator+=()

◆ operator=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ set()

◆ submat()

◆ toEigenMatrix()

◆ toFloatArray()

◆ toPostionAngle()

◆ transpose()

Member Data Documentation

◆ m

template<typename BaseVecT>
class lvr2::Matrix4< BaseVecT >