Matrix3 Class Reference

A 3x3 matrix class. More...

`#include <Matrix3.hh>`

## Public Member Functions

Matrix3 () GAZEBO_DEPRECATED(8.0)
Constructor. More...

Matrix3 (const Matrix3 &_m) GAZEBO_DEPRECATED(8.0)
Copy constructor. More...

Matrix3 (double _v00, double _v01, double _v02, double _v10, double _v11, double _v12, double _v20, double _v21, double _v22) GAZEBO_DEPRECATED(8.0)
Constructor. More...

Matrix3 (const ignition::math::Matrix3d &_m) GAZEBO_DEPRECATED(8.0)
Copy constructor for ignition math. More...

virtual ~Matrix3 ()
Desctructor. More...

ignition::math::Matrix3d Ign () const
Convert this matrix to an ignition::math::Matrix3d. More...

Matrix3 Inverse () const
Return the inverse matrix. More...

Matrix3 operator* (const double &_s) const
returns the element wise scalar multiplication More...

Matrix3 operator* (const Matrix3 &_m) const
Matrix multiplication operator. More...

math::Vector3 operator* (const math::Vector3 &_v) const
Matrix times Vector3 operator. More...

Matrix3 operator+ (const Matrix3 &_m) const
returns the element wise sum of two matrices More...

Matrix3 operator- (const Matrix3 &_m) const
returns the element wise difference of two matrices More...

bool operator== (const Matrix3 &_m) const
Equality test operator. More...

const double * operator[] (size_t _row) const
Array subscript operator. More...

double * operator[] (size_t _row)
Array subscript operator. More...

void SetCol (unsigned int _c, const Vector3 &_v)
Set a column. More...

void SetFromAxes (const Vector3 &_xAxis, const Vector3 &_yAxis, const Vector3 &_zAxis)
Set the matrix from three axis (1 per column) More...

void SetFromAxis (const Vector3 &_axis, double _angle)
Set the matrix from an axis and angle. More...

## Static Public Attributes

static const Matrix3 IDENTITY
Identity matrix. More...

static const Matrix3 ZERO
Zero matrix. More...

## Protected Attributes

double m [3][3]
the 3x3 matrix More...

## Friends

Matrix3 operator* (double _s, const Matrix3 &_m)
Multiplication operators. More...

std::ostream & operator<< (std::ostream &_out, const gazebo::math::Matrix3 &_m)
Stream insertion operator. More...

## Detailed Description

A 3x3 matrix class.

## Constructor & Destructor Documentation

 Matrix3 ( )
 Matrix3 ( const Matrix3 & _m )

Copy constructor.

Parameters
 _m Matrix to copy
 Matrix3 ( double _v00, double _v01, double _v02, double _v10, double _v11, double _v12, double _v20, double _v21, double _v22 )

Constructor.

Parameters
 [in] _v00 Row 0, Col 0 value [in] _v01 Row 0, Col 1 value [in] _v02 Row 0, Col 2 value [in] _v10 Row 1, Col 0 value [in] _v11 Row 1, Col 1 value [in] _v12 Row 1, Col 2 value [in] _v20 Row 2, Col 0 value [in] _v21 Row 2, Col 1 value [in] _v22 Row 2, Col 2 value
 Matrix3 ( const ignition::math::Matrix3d & _m )

Copy constructor for ignition math.

Parameters
 _m Matrix to copy
 virtual ~Matrix3 ( )
virtual

Desctructor.

## Member Function Documentation

 ignition::math::Matrix3d Ign ( ) const

Convert this matrix to an ignition::math::Matrix3d.

Returns
This matrix as an ignition::math::Matrix3d.
 Matrix3 Inverse ( ) const

Return the inverse matrix.

Returns
Inverse of this matrix.
 Matrix3 operator* ( const double & _s ) const
inline

returns the element wise scalar multiplication

References Matrix3::m, and Matrix3::Matrix3().

 Matrix3 operator* ( const Matrix3 & _m ) const
inline

Matrix multiplication operator.

Parameters
 [in] _m Matrix3 to multiply
Returns
product of this * _m

References Matrix3::m, Matrix3::Matrix3(), and Matrix3::operator==().

 math::Vector3 operator* ( const math::Vector3 & _v ) const
inline

Matrix times Vector3 operator.

Parameters
 [in] _v a Vector3
Returns
this * _v

References Matrix3::m, Vector3::x, Vector3::y, and Vector3::z.

 Matrix3 operator+ ( const Matrix3 & _m ) const
inline

returns the element wise sum of two matrices

References Matrix3::m, and Matrix3::Matrix3().

 Matrix3 operator- ( const Matrix3 & _m ) const
inline

returns the element wise difference of two matrices

References Matrix3::m, and Matrix3::Matrix3().

 bool operator== ( const Matrix3 & _m ) const

Equality test operator.

Parameters
 [in] _m Matrix3 to test
Returns
True if equal (using the default tolerance of 1e-6)

Referenced by Matrix3::operator*().

 const double* operator[] ( size_t _row ) const
inline

Array subscript operator.

Parameters
 [in] _row row index
Returns
a pointer to the row

References Matrix3::m.

 double* operator[] ( size_t _row )
inline

Array subscript operator.

Parameters
 [in] _row row index
Returns
a pointer to the row

References Matrix3::m.

 void SetCol ( unsigned int _c, const Vector3 & _v )

Set a column.

Parameters
 [in] _c The colum index (0, 1, 2) [in] _v The value to set in each row of the column
 void SetFromAxes ( const Vector3 & _xAxis, const Vector3 & _yAxis, const Vector3 & _zAxis )

Set the matrix from three axis (1 per column)

Parameters
 [in] _xAxis The x axis [in] _yAxis The y axis [in] _zAxis The z axis
 void SetFromAxis ( const Vector3 & _axis, double _angle )

Set the matrix from an axis and angle.

Parameters
 [in] _axis the axis [in] _angle ccw rotation around the axis in radians

## Friends And Related Function Documentation

 Matrix3 operator* ( double _s, const Matrix3 & _m )
friend

Multiplication operators.

Parameters
 [in] _s the scaling factor [in] _m input matrix
Returns
a scaled matrix
 std::ostream& operator<< ( std::ostream & _out, const gazebo::math::Matrix3 & _m )
friend

Stream insertion operator.

Parameters
 [in] _out Output stream [in] _m Matrix to output
Returns
the stream

## Member Data Documentation

 const Matrix3 IDENTITY
static

Identity matrix.

 double m[3][3]
protected
 const Matrix3 ZERO
static

Zero matrix.

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