A 3x3 matrix class. More...

#include <ignition/math/Matrix3.hh>

Public Member Functions
	Matrix3 ()
	Constructor. More...

	Matrix3 (const Matrix3< T > &_m)
	Copy constructor. More...

	Matrix3 (const Quaternion< T > &_q)
	Construct Matrix3 from a quaternion. More...

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

virtual	~Matrix3 ()
	Desctructor. More...

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

void	Axis (const Vector3< T > &_axis, T _angle)
	Set the matrix from an axis and angle. More...

void	Col (unsigned int _c, const Vector3< T > &_v)
	Set a column. More...

T	Determinant () const
	Return the determinant of the matrix. More...

bool	Equal (const Matrix3 &_m, const T &_tol) const
	Equality test with tolerance. More...

void	From2Axes (const Vector3< T > &_v1, const Vector3< T > &_v2)
	Set the matrix to represent rotation from vector _v1 to vector _v2, so that _v2.Normalize() == this * _v1.Normalize() holds. More...

Matrix3< T >	Inverse () const
	Return the inverse matrix. More...

bool	operator!= (const Matrix3< T > &_m) const
	Inequality test operator. More...

T &	operator() (size_t _row, size_t _col)
	Array subscript operator. More...

const T &	operator() (size_t _row, size_t _col) const
	Array subscript operator. More...

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

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

Vector3< T >	operator* (const Vector3< T > &_vec) const
	Multiplication operator with Vector3 on the right treated like a column vector. More...

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

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

Matrix3< T > &	operator= (const Matrix3< T > &_mat)
	Equal operator. this = _mat. More...

Matrix3< T > &	operator= (const Quaternion< T > &_q)
	Set the matrix3 from a quaternion. More...

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

void	Set (T _v00, T _v01, T _v02, T _v10, T _v11, T _v12, T _v20, T _v21, T _v22)
	Set values. More...

void	Transpose ()
	Transpose this matrix. More...

Matrix3< T >	Transposed () const
	Return the transpose of this matrix. More...

Static Public Attributes
static const Matrix3< T >	Identity
	Identity matrix. More...

static const Matrix3< T >	Zero
	Zero matrix. More...

Detailed Description

template<typename T>
class ignition::math::Matrix3< T >

A 3x3 matrix class.

Constructor & Destructor Documentation

◆ Matrix3() [1/4]

Matrix3 ( )

inline

Constructor.

References std::memset().

◆ Matrix3() [2/4]

Matrix3 ( const Matrix3< T > & _m )

inline

Copy constructor.

Parameters

_m	Matrix to copy

References std::memcpy().

◆ Matrix3() [3/4]

Matrix3	(	T	_v00,
		T	_v01,
		T	_v02,
		T	_v10,
		T	_v11,
		T	_v12,
		T	_v20,
		T	_v21,
		T	_v22
	)

inline

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() [4/4]

Matrix3 ( const Quaternion< T > & _q )

inlineexplicit

Construct Matrix3 from a quaternion.

Parameters

[in] _q Quaternion.

References Quaternion::Normalize(), Matrix3< T >::Set(), Quaternion::W(), Quaternion::X(), Quaternion::Y(), and Quaternion::Z().

◆ ~Matrix3()

virtual ~Matrix3 ( )

inlinevirtual

Desctructor.

Member Function Documentation

◆ Axes()

void Axes	(	const Vector3< T > &	_xAxis,
		const Vector3< T > &	_yAxis,
		const Vector3< T > &	_zAxis
	)

inline

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

References Matrix3< T >::Col().

◆ Axis()

void Axis	(	const Vector3< T > &	_axis,
		T	_angle
	)

inline

Set the matrix from an axis and angle.

Parameters

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

References Vector3< T >::X(), Vector3< T >::Y(), and Vector3< T >::Z().

Referenced by Matrix3< T >::From2Axes().

◆ Col()

void Col	(	unsigned int	_c,
		const Vector3< T > &	_v
	)

inline

Set a column.

Parameters

[in]	_c	The colum index [0, 1, 2]. _col is clamped to the range [0, 2].
[in]	_v	The value to set in each row of the column.

References ignition::math::clamp(), Vector3< T >::X(), Vector3< T >::Y(), and Vector3< T >::Z().

Referenced by Matrix3< T >::Axes().

◆ Determinant()

T Determinant ( ) const

inline

Return the determinant of the matrix.

Returns: Determinant of this matrix.

◆ Equal()

bool Equal	(	const Matrix3< T > &	_m,
		const T &	_tol
	)		const

inline

Equality test with tolerance.

Parameters

[in]	_m	the matrix to compare to
[in]	_tol	equality tolerance.

Returns: true if the elements of the matrices are equal within the tolerence specified by _tol.

Referenced by Matrix3< T >::operator==().

◆ From2Axes()

void From2Axes	(	const Vector3< T > &	_v1,
		const Vector3< T > &	_v2
	)

inline

Set the matrix to represent rotation from vector _v1 to vector _v2, so that _v2.Normalize() == this * _v1.Normalize() holds.

Parameters

[in]	_v1	The first vector
[in]	_v2	The second vector

References Matrix3< T >::Axis(), Vector3< T >::Cross(), Vector3< T >::Dot(), Matrix3< T >::Set(), and Vector3< T >::SquaredLength().

◆ Inverse()

Matrix3<T> Inverse ( ) const

inline

Return the inverse matrix.

Returns: Inverse of this matrix.

◆ operator!=()

bool operator!= ( const Matrix3< T > & _m ) const

inline

Inequality test operator.

Parameters

[in] _m Matrix3<T> to test

Returns: True if not equal (using the default tolerance of 1e-6)

◆ operator()() [1/2]

T& operator()	(	size_t	_row,
		size_t	_col
	)

inline

Array subscript operator.

Parameters

[in]	_row	row index. _row is clamped to the range [0,2]
[in]	_col	column index. _col is clamped to the range [0,2]

Returns: a pointer to the row

References ignition::math::clamp(), ignition::math::IGN_TWO_SIZE_T, and ignition::math::IGN_ZERO_SIZE_T.

◆ operator()() [2/2]

const T& operator()	(	size_t	_row,
		size_t	_col
	)		const

inline

Array subscript operator.

Parameters

[in]	_row	row index. _row is clamped to the range [0,2]
[in]	_col	column index. _col is clamped to the range [0,2]

Returns: a pointer to the row

References ignition::math::clamp(), ignition::math::IGN_TWO_SIZE_T, and ignition::math::IGN_ZERO_SIZE_T.

◆ operator*() [1/3]

Matrix3<T> operator* ( const Matrix3< T > & _m ) const

inline

Matrix multiplication operator.

Parameters

[in] _m Matrix3<T> to multiply

Returns: product of this * _m

◆ operator*() [2/3]

Matrix3<T> operator* ( const T & _s ) const

inline

returns the element wise scalar multiplication

◆ operator*() [3/3]

Vector3<T> operator* ( const Vector3< T > & _vec ) const

inline

Multiplication operator with Vector3 on the right treated like a column vector.

Parameters

_vec Vector3

Returns: Resulting vector from multiplication

References Vector3< T >::X(), Vector3< T >::Y(), and Vector3< T >::Z().

◆ operator+()

Matrix3<T> operator+ ( const Matrix3< T > & _m ) const

inline

returns the element wise sum of two matrices

◆ operator-()

Matrix3<T> operator- ( const Matrix3< T > & _m ) const

inline

returns the element wise difference of two matrices

◆ operator=() [1/2]

Matrix3<T>& operator= ( const Matrix3< T > & _mat )

inline

Equal operator. this = _mat.

Parameters

_mat	Incoming matrix

Returns: itself

◆ operator=() [2/2]

Matrix3<T>& operator= ( const Quaternion< T > & _q )

inline

Set the matrix3 from a quaternion.

Parameters

[in] _q Quaternion to set the matrix3 from.

Returns: Reference to the new matrix3 object.

◆ operator==()

bool operator== ( const Matrix3< T > & _m ) const

inline

Equality test operator.

Parameters

[in] _m Matrix3<T> to test

Returns: True if equal (using the default tolerance of 1e-6)

References Matrix3< T >::Equal().

◆ Set()

void Set	(	T	_v00,
		T	_v01,
		T	_v02,
		T	_v10,
		T	_v11,
		T	_v12,
		T	_v20,
		T	_v21,
		T	_v22
	)

inline

Set values.

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

Referenced by Matrix3< T >::From2Axes(), and Matrix3< T >::Matrix3().

◆ Transpose()

void Transpose ( )

inline

Transpose this matrix.

References std::swap().

◆ Transposed()

Matrix3<T> Transposed ( ) const

inline

Return the transpose of this matrix.

Returns: Transpose of this matrix.

Referenced by MassMatrix3< T >::SetFromBox(), and MassMatrix3< T >::SetFromCylinderZ().

Member Data Documentation

◆ Identity

const Matrix3< T > Identity

static

Identity matrix.

◆ Zero

const Matrix3< T > Zero

static

Zero matrix.

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

gz/math/Matrix3.hh

Gazebo Math

API Reference

Public Member Functions

Static Public Attributes

Detailed Description

template<typename T>
class ignition::math::Matrix3< T >

Constructor & Destructor Documentation

◆ Matrix3() [1/4]

◆ Matrix3() [2/4]

◆ Matrix3() [3/4]

◆ Matrix3() [4/4]

◆ ~Matrix3()

Member Function Documentation

◆ Axes()

◆ Axis()

◆ Col()

◆ Determinant()

◆ Equal()

◆ From2Axes()

◆ Inverse()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator+()

◆ operator-()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ Set()

◆ Transpose()

◆ Transposed()

Member Data Documentation

◆ Identity

◆ Zero

Public Member Functions

Static Public Attributes

Detailed Description

template<typename T> class ignition::math::Matrix3< T >

Constructor & Destructor Documentation

◆ Matrix3() [1/4]

◆ Matrix3() [2/4]

◆ Matrix3() [3/4]

◆ Matrix3() [4/4]

◆ ~Matrix3()

Member Function Documentation

◆ Axes()

◆ Axis()

◆ Col()

◆ Determinant()

◆ Equal()

◆ From2Axes()

◆ Inverse()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator+()

◆ operator-()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ Set()

◆ Transpose()

◆ Transposed()

Member Data Documentation

◆ Identity

◆ Zero

template<typename T>
class ignition::math::Matrix3< T >