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Matrix3 Class Reference
[Data classes]

A three-by-three matrix class using double-precision. More...

#include <Matrix3.h>

Inheritance diagram for Matrix3:

List of all members.


Public Methods
virtual std::string	asString () const
	String representation.
virtual std::string	typeString () const
	Type representation.
virtual void	serialize (Archive &)
	Serialize to or from a data archive.
virtual void	parseXML (const char *cdata)
	Extract the matrix values from XML character data.
	Matrix3 ()
	Default constructor.
	Matrix3 (const Matrix3 &other)
	Copy constructor.
	Matrix3 (double const *const def)
	Construct and initialize a matrix from a double[9] array.
	Matrix3 (double a00, double a01, double a02, double a10, double a11, double a12, double a20, double a21, double a22)
	Matrix3 (const Vector3 &col0, const Vector3 &col1, const Vector3 &col2)
	Construct and initialize a matrix from three column vectors.
	~Matrix3 ()
	Destructor.
int	compare (const Matrix3 &m) const
	Compare two matrices.
bool	operator== (const Matrix3 &m) const
	Compare two matrices for (byte) equality.
bool	operator!= (const Matrix3 &m) const
	Compare two matrices for (byte) inequality.
double &	operator() (int row_, int col_)
	Get the value (reference) of a matrix element.
double	operator() (int row_, int col_) const
	Get the (const) value of a matrix element.
double	getElement (int row_, int col_)
	Get the value of a matrix element.
void	setElement (int row_, int col_, double value)
	Set the value of a matrix element.
bool	valid () const
	Return true if all elements are valid floating point numbers.
bool	isNaN () const
	Return true if any elements are NaN (not-a-number).
Matrix3 &	operator= (const Matrix3 &other)
	Copy operator.
void	set (const Matrix3 &other)
	Set this matrix from another matrix.
void	set (double const *const ptr_)
	Set this matrix from a double[9] array.
void	set (double a00, double a01, double a02, double a10, double a11, double a12, double a20, double a21, double a22)
	Set this matrix from a list of element values.
std::vector< double >	getElements () const
	Get the matrix elements as a vector<double>.
void	setElements (std::vector< double > const &v) const
	Set this matrix from a vector<double>.
Vector3	getRow (int i)
	Get a row vector of this matrix.
Vector3	getCol (int i)
	Get a column vector of this matrix.
void	setRow (int i, const Vector3 &v)
	Set a row of this matrix from a vector.
void	setCol (int i, const Vector3 &v)
	Set a column of this matrix from a vector.
double *	row (int i)
	Get a pointer to a row of this matrix.
double *	ptr ()
	Get a pointer to the first element of this matrix.
double const *	ptr () const
	Get a const pointer to the first element of this matrix.
void	makeIdentity ()
	Set this matrix equal to the identity matrix.
void	makeZero ()
	Set all matrix elements to zero.
void	makeScale (const Vector3 &v)
	Set this matrix to a scaling matrix.
void	makeScale (double, double, double)
	Set this matrix to a scaling matrix.
void	makeRotate (const Vector3 &from, const Vector3 &to)
	Make a rotation matrix to transform one vector into another.
void	makeRotate (double angle, const Vector3 &axis)
	Make a rotation matrix to rotate around a given axis.
void	makeRotate (double angle, double x, double y, double z)
	Make a rotation matrix to rotate around a given axis.
void	makeRotate (const Quat &)
	Make a rotation matrix from a quaternion.
void	makeRotate (double roll, double pitch, double yaw)
	Make a rotation matrix from euler angles.
void	makeRotate (double angle1, const Vector3 &axis1, double angle2, const Vector3 &axis2, double angle3, const Vector3 &axis3)
	Make a rotation from combining three rotations.
bool	invert (const Matrix3 &m, double tolerance=1e-12)
	Construct the inverse of a matrix.
bool	invert (double tolerance=1e-12)
	Invert this matrix.
void	transpose (const Matrix3 &other)
	Construct the transpose of a matrix.
void	transpose ()
	Transpose this matrix.
Matrix3	getInverse (double tolerance=1e-12) const
	Get the inverse of this matrix.
Matrix3	getTranspose () const
	Get the transpose of this matrix.
double	determinant () const
	Compute the determinant of this matrix.
void	getRotate (double angle, Vector3 &axis) const
	Get the rotation angle and axis of this matrix.
void	getEulerAngles (double &roll, double &pitch, double &yaw)
	Get the Euler angles of this matrix.
Vector3	preMult (const Vector3 &v) const
	Multiply this matrix by a row vector (vM).*
Vector3	postMult (const Vector3 &v) const
	Multiply this matrix by a column vector (Mv).*
Vector3	operator * (const Vector3 &v) const
	Multiply this matrix by a column vector (Mv).*
Vector3	getScale () const
	Get the diagonal elements of this matrix as a vector.
double	getTrace () const
	Get the trace of this matrix.
void	mult (const Matrix3 &, const Matrix3 &)
	Matrix multipliation (MM).*
void	preMult (const Matrix3 &)
	Multiply this matrix by another matrix on the left.
void	postMult (const Matrix3 &)
	Multiply this matrix by another matrix on the right.
void	operator *= (const Matrix3 &other)
	Multiply this matrix by another matrix on the right.
Matrix3	operator * (const Matrix3 &m) const
	Get the product of this matrix and another matrix.
const Matrix3 &	operator+= (const Matrix3 &rhs)
	Add another matrix to this matrix.
const Matrix3 &	operator-= (const Matrix3 &rhs)
	Subtract another matrix from this matrix.
const Matrix3 &	operator *= (const double rhs)
	Multiply this matrix by a scalar.
const Matrix3 &	operator/= (const double rhs)
	Divide this matrix by a scalar.
Matrix3	operator+ (const Matrix3 &rhs) const
	Get the sum of this matrix and another matrix.
Matrix3	operator- (const Matrix3 &rhs) const
	Get the difference of this matrix and another matrix.
Matrix3	operator * (double rhs) const
	Get the product of this matrix and a scalar.
Matrix3	operator/ (double rhs) const
	Get the quotient of this matrix and a scalar.
Matrix3	operator- () const
	Get this matrix with each element negated.
virtual void	convertXML ()
	Convert XML data to internal format prior to serialization.
Static Public Methods
Matrix3 const &	identity (void)
	Create a new identity matrix.
Matrix3	scale (const Vector3 &sv)
	Create a new scaling matrix.
Matrix3	scale (double sx, double sy, double sz)
	Create a new scaling matrix.
Matrix3	rotate (const Vector3 &from, const Vector3 &to)
	Create a new rotation matrix.
Matrix3	rotate (double angle, double x, double y, double z)
	Create a new rotation matrix.
Matrix3	rotate (double angle, const Vector3 &axis)
	Create a new rotation matrix.
Matrix3	rotate (double angle1, const Vector3 &axis1, double angle2, const Vector3 &axis2, double angle3, const Vector3 &axis3)
	Create a new rotation matrix.
Matrix3	rotate (double roll, double pitch, double yaw)
	Create a new rotation matrix.
Matrix3	rotate (const Quat &quat)
	Create a new rotation matrix.
Matrix3	inverse (const Matrix3 &matrix, double tolerance=1e-12)
	Get the inverse of a matrix.
Matrix3	tensor (const Vector3 &a, const Vector3 &b)
	Get the tensor product of two vectors.
Static Public Attributes
const Matrix3	ZERO
	Null matrix.
const Matrix3	IDENTITY
	Identity matrix.
Protected Attributes
double	_mat [3][3]
	The matrix elements.
Friends
Vector3	operator * (const Vector3 &v, const Matrix3 &m)
	Multiply a matrix by a row vector (vM).*
Matrix3	operator * (double lhs, const Matrix3 &rhs)
	Multiply a matrix by a scalar on the left (sM).*
SIMDATA_EXPORT std::ostream &	operator<< (std::ostream &os, const Matrix3 &m)
	Format this matrix for an output stream.

Detailed Description

A three-by-three matrix class using double-precision.

Constructor & Destructor Documentation

Matrix3::Matrix3 ( ) [inline]

Default constructor.

Note:
The default constructor does not initialize the matrix for the sake of efficiency. If you do not explicitly set the matrix, the elements will generally assume random values.

Matrix3::Matrix3 ( const Matrix3 & other ) [inline]

Copy constructor.

Matrix3::Matrix3 ( double const *const def ) [inline, explicit]

Construct and initialize a matrix from a double[9] array.

Matrix3::Matrix3 ( double a00,

double a01,

double a02,

double a10,

double a11,

double a12,

double a20,

double a21,

double a22

) [inline]

Matrix3::Matrix3 ( const Vector3 & col0,

const Vector3 & col1,

const Vector3 & col2

)

Construct and initialize a matrix from three column vectors.

Matrix3::~Matrix3 ( ) [inline]

Destructor.

Member Function Documentation

std::string Matrix3::asString ( ) [virtual]

String representation.

Implements BaseType.

int Matrix3::compare ( const Matrix3 & m ) const [inline]

Compare two matrices.
Compares two matrices byte-by-byte. The sign of the return value is useless, since the byte comparisons are inequivalent to floating point comparisions. Used only to test for equality.

Returns:
0 if equal, non-zero if unequal.

void BaseType::convertXML ( ) [virtual, inherited]

Convert XML data to internal format prior to serialization.
This method is currently only called by the XML parser for Object classes. If another BaseType class requires this method, a call must be added to the appropriate XML handler in the parser.

double Matrix3::determinant ( )

Compute the determinant of this matrix.

Vector3 Matrix3::getCol ( int i ) [inline]

Get a column vector of this matrix.

double Matrix3::getElement ( int row_,

int col_

) [inline]

Get the value of a matrix element.

std::vector< double > Matrix3::getElements ( )

Get the matrix elements as a vector<double>.

void Matrix3::getEulerAngles ( double & roll,

double & pitch,

double & yaw

)

Get the Euler angles of this matrix.

Matrix3 Matrix3::getInverse ( double tolerance = 1e-12 ) const [inline]

Get the inverse of this matrix.
See invert(double).

void Matrix3::getRotate ( double angle,

Vector3 & axis

) const

Get the rotation angle and axis of this matrix.

Vector3 Matrix3::getRow ( int i ) [inline]

Get a row vector of this matrix.

Vector3 Matrix3::getScale ( ) const [inline]

Get the diagonal elements of this matrix as a vector.

double Matrix3::getTrace ( ) const [inline]

Get the trace of this matrix.

Matrix3 Matrix3::getTranspose ( ) const [inline]

Get the transpose of this matrix.

Matrix3 const& Matrix3::identity ( void ) [inline, static]

Create a new identity matrix.

Matrix3 Matrix3::inverse ( const Matrix3 & matrix,

double tolerance = 1e-12

) [inline, static]

Get the inverse of a matrix.

bool Matrix3::invert ( double tolerance = 1e-12 ) [inline]

Invert this matrix.

Parameters:

tolerance The minimum value of the deteriminant.

Returns:
false if the deteriminant less than the tolerance, true otherwise. If false, the matrix elements are unchanged.

bool Matrix3::invert ( const Matrix3 & m,

double tolerance = 1e-12

)

Construct the inverse of a matrix.

Parameters:

m The input matrix.

tolerance The minimum value of the deteriminant.

Returns:
false if the deteriminant less than the tolerance, true otherwise. If false, the matrix elements are copied directly from the input matrx.

bool Matrix3::isNaN ( )

Return true if any elements are NaN (not-a-number).

void Matrix3::makeIdentity ( ) [inline]

Set this matrix equal to the identity matrix.

void Matrix3::makeRotate ( double angle1,

const Vector3 & axis1,

double angle2,

const Vector3 & axis2,

double angle3,

const Vector3 & axis3

)

Make a rotation from combining three rotations.

Parameters:

angle1 The angle of the first rotation.

axis1 The axis of the first rotation.

angle2 The angle of the second rotation.

axis2 The axis of the second rotation.

angle3 The angle of the third rotation.

axis3 The axis of the third rotation.

void Matrix3::makeRotate ( double roll,

double pitch,

double yaw

)

Make a rotation matrix from euler angles.

Parameters:

roll the x-axis rotation.

pitch the y-axis rotation.

yaw the z-axis rotation.

void Matrix3::makeRotate ( const Quat & )

Make a rotation matrix from a quaternion.

void Matrix3::makeRotate ( double angle,

double x,

double y,

double z

)

Make a rotation matrix to rotate around a given axis.
See makeRotate(double angle, const Vector3& axis).

void Matrix3::makeRotate ( double angle,

const Vector3 & axis

)

Make a rotation matrix to rotate around a given axis.

Parameters:

angle The angle of rotation.

axis The axis of rotation.

void Matrix3::makeRotate ( const Vector3 & from,

const Vector3 & to

)

Make a rotation matrix to transform one vector into another.
The resulting matrix will rotate the from vector into the to vector.

void Matrix3::makeScale ( double ,

double ,

double

)

Set this matrix to a scaling matrix.
See makeScale(const Vector3&).

void Matrix3::makeScale ( const Vector3 & v ) [inline]

Set this matrix to a scaling matrix.
The resulting matrix has the components of the input vector along the diagonal, with all off-diagonal elements equal to zero.
Parameters:

v A vector specifying the scale factor for each axis.

void Matrix3::makeZero ( ) [inline]

Set all matrix elements to zero.

void Matrix3::mult ( const Matrix3 & ,

const Matrix3 &

)

Matrix multipliation (M*M).

Matrix3 Matrix3::operator * ( double rhs ) const [inline]

Get the product of this matrix and a scalar.

Matrix3 Matrix3::operator * ( const Matrix3 & m ) const [inline]

Get the product of this matrix and another matrix.

Vector3 Matrix3::operator * ( const Vector3 & v ) const [inline]

Multiply this matrix by a column vector (M*v).

const Matrix3& Matrix3::operator *= ( const double rhs ) [inline]

Multiply this matrix by a scalar.

void Matrix3::operator *= ( const Matrix3 & other ) [inline]

Multiply this matrix by another matrix on the right.

bool Matrix3::operator!= ( const Matrix3 & m ) const [inline]

Compare two matrices for (byte) inequality.

double Matrix3::operator() ( int row_,

int col_

) const [inline]

Get the (const) value of a matrix element.

double& Matrix3::operator() ( int row_,

int col_

) [inline]

Get the value (reference) of a matrix element.

Matrix3 Matrix3::operator+ ( const Matrix3 & rhs ) const [inline]

Get the sum of this matrix and another matrix.

const Matrix3& Matrix3::operator+= ( const Matrix3 & rhs ) [inline]

Add another matrix to this matrix.

Matrix3 Matrix3::operator- ( ) const [inline]

Get this matrix with each element negated.

Matrix3 Matrix3::operator- ( const Matrix3 & rhs ) const [inline]

Get the difference of this matrix and another matrix.

const Matrix3& Matrix3::operator-= ( const Matrix3 & rhs ) [inline]

Subtract another matrix from this matrix.

Matrix3 Matrix3::operator/ ( double rhs ) const [inline]

Get the quotient of this matrix and a scalar.

const Matrix3& Matrix3::operator/= ( const double rhs ) [inline]

Divide this matrix by a scalar.

Matrix3& Matrix3::operator= ( const Matrix3 & other ) [inline]

Copy operator.

bool Matrix3::operator== ( const Matrix3 & m ) const [inline]

Compare two matrices for (byte) equality.

void Matrix3::parseXML ( const char * cdata ) [virtual]

Extract the matrix values from XML character data.
The nine values should be separated by white-space and arranged in order (0,0), (0,1), (0,2), (1,0), etc.
Reimplemented from BaseType.

void Matrix3::postMult ( const Matrix3 & )

Multiply this matrix by another matrix on the right.

Vector3 Matrix3::postMult ( const Vector3 & v ) const [inline]

Multiply this matrix by a column vector (M*v).

void Matrix3::preMult ( const Matrix3 & )

Multiply this matrix by another matrix on the left.

Vector3 Matrix3::preMult ( const Vector3 & v ) const [inline]

Multiply this matrix by a row vector (v*M).

double const* Matrix3::ptr ( ) const [inline]

Get a const pointer to the first element of this matrix.

double* Matrix3::ptr ( ) [inline]

Get a pointer to the first element of this matrix.

Matrix3 Matrix3::rotate ( const Quat & quat ) [inline, static]

Create a new rotation matrix.

Matrix3 Matrix3::rotate ( double roll,

double pitch,

double yaw

) [inline, static]

Create a new rotation matrix.

Matrix3 Matrix3::rotate ( double angle1,

const Vector3 & axis1,

double angle2,

const Vector3 & axis2,

double angle3,

const Vector3 & axis3

) [inline, static]

Create a new rotation matrix.

Matrix3 Matrix3::rotate ( double angle,

const Vector3 & axis

) [inline, static]

Create a new rotation matrix.

Matrix3 Matrix3::rotate ( double angle,

double x,

double y,

double z

) [inline, static]

Create a new rotation matrix.

Matrix3 Matrix3::rotate ( const Vector3 & from,

const Vector3 & to

) [inline, static]

Create a new rotation matrix.

double* Matrix3::row ( int i ) [inline]

Get a pointer to a row of this matrix.

Matrix3 Matrix3::scale ( double sx,

double sy,

double sz

) [inline, static]

Create a new scaling matrix.

Matrix3 Matrix3::scale ( const Vector3 & sv ) [inline, static]

Create a new scaling matrix.

void Matrix3::serialize ( Archive & ) [virtual]

Serialize to or from a data archive.

Reimplemented from BaseType.

void Matrix3::set ( double a00,

double a01,

double a02,

double a10,

double a11,

double a12,

double a20,

double a21,

double a22

) [inline]

Set this matrix from a list of element values.

void Matrix3::set ( double const *const ptr_ ) [inline]

Set this matrix from a double[9] array.

void Matrix3::set ( const Matrix3 & other ) [inline]

Set this matrix from another matrix.

void Matrix3::setCol ( int i,

const Vector3 & v

) [inline]

Set a column of this matrix from a vector.

void Matrix3::setElement ( int row_,

int col_,

double value

) [inline]

Set the value of a matrix element.

void Matrix3::setElements ( std::vector< double > const & v ) const

Set this matrix from a vector<double>.

void Matrix3::setRow ( int i,

const Vector3 & v

) [inline]

Set a row of this matrix from a vector.

Matrix3 Matrix3::tensor ( const Vector3 & a,

const Vector3 & b

) [inline, static]

Get the tensor product of two vectors.

void Matrix3::transpose ( ) [inline]

Transpose this matrix.

void Matrix3::transpose ( const Matrix3 & other )

Construct the transpose of a matrix.

Parameters:

other The input matrix to transpose.

virtual std::string Matrix3::typeString ( ) const [inline, virtual]

Type representation.

Implements BaseType.

bool Matrix3::valid ( ) const [inline]

Return true if all elements are valid floating point numbers.

Friends And Related Function Documentation

Matrix3 operator * ( double lhs,

const Matrix3 & rhs

) [friend]

Multiply a matrix by a scalar on the left (s*M).

Vector3 operator * ( const Vector3 & v,

const Matrix3 & m

) [friend]

Multiply a matrix by a row vector (v*M).

SIMDATA_EXPORT std::ostream& operator<< ( std::ostream & os,

const Matrix3 & m

) [friend]

Format this matrix for an output stream.

Member Data Documentation

double Matrix3::_mat[3][3] [protected]

The matrix elements.

const Matrix3 Matrix3::IDENTITY [static]

Identity matrix.

NAMESPACE_SIMDATA const Matrix3 Matrix3::ZERO [static]

Null matrix.

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

SimData version pre-0.4.0. For more information on SimData, visit the SimData Homepage.

Generated on Tue Oct 14 12:06:41 2003, using Doxygen 1.2.18.

Matrix3 Class Reference [Data classes]

Public Methods

Static Public Methods

Static Public Attributes