A 6x6 matrix class. More...

#include <gz/math/Matrix6.hh>

Public Types
enum	Matrix6Corner { TOP_LEFT = 0, TOP_RIGHT = 1, BOTTOM_LEFT = 2, BOTTOM_RIGHT = 3 }
	Identifiers for each of the 4 3x3 corners of the matrix. More...

Public Member Functions
	Matrix6 ()
	Constructor. More...

	Matrix6 (const Matrix6< T > &_m)=default
	Copy constructor. More...

constexpr	Matrix6 (T _v00, T _v01, T _v02, T _v03, T _v04, T _v05, T _v10, T _v11, T _v12, T _v13, T _v14, T _v15, T _v20, T _v21, T _v22, T _v23, T _v24, T _v25, T _v30, T _v31, T _v32, T _v33, T _v34, T _v35, T _v40, T _v41, T _v42, T _v43, T _v44, T _v45, T _v50, T _v51, T _v52, T _v53, T _v54, T _v55)
	Constructor. More...

bool	Equal (const Matrix6 &_m, const T &_tol) const
	Equality test with tolerance. More...

bool	operator!= (const Matrix6< T > &_m) const
	Inequality test operator. More...

T &	operator() (const size_t _row, const size_t _col)
	Get a mutable version of the value at the specified row, column index. More...

const T &	operator() (const size_t _row, const size_t _col) const
	Get the value at the specified row, column index. More...

Matrix6< T >	operator* (const Matrix6< T > &_m2) const
	Multiplication operator. More...

Matrix6< T >	operator*= (const Matrix6< T > &_m2)
	Multiplication assignment operator. This matrix will become equal to this * _m2. More...

Matrix6< T >	operator+ (const Matrix6< T > &_m2) const
	Addition operator. More...

Matrix6< T >	operator+= (const Matrix6< T > &_m2)
	Addition assignment operator. This matrix will become equal to this + _m2. More...

Matrix6< T > &	operator= (const Matrix6< T > &_mat)=default
	Assignment operator. this = _mat. More...

bool	operator== (const Matrix6< T > &_m) const
	Equality operator. More...

void	Set (T _v00, T _v01, T _v02, T _v03, T _v04, T _v05, T _v10, T _v11, T _v12, T _v13, T _v14, T _v15, T _v20, T _v21, T _v22, T _v23, T _v24, T _v25, T _v30, T _v31, T _v32, T _v33, T _v34, T _v35, T _v40, T _v41, T _v42, T _v43, T _v44, T _v45, T _v50, T _v51, T _v52, T _v53, T _v54, T _v55)
	Change the values. More...

void	SetSubmatrix (Matrix6Corner _corner, const Matrix3< T > &_mat)
	Set one of the four 3x3 submatrices that compose this matrix. These submatrices are formed by dividing the 6x6 matrix in 4 parts that do not overlap with each other. More...

bool	SetValue (size_t _row, size_t _col, T _v)
	Set a value in a specific row and col param[in] _row Row of the matrix param[in] _col Col of the matrix param[in] _v Value to assign. More...

Matrix3< T >	Submatrix (Matrix6Corner _corner) const
	Get one of the four 3x3 submatrices that compose this matrix. These submatrices are formed by dividing the 6x6 matrix in 4 parts that do not overlap with each other. More...

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

Matrix6< T >	Transposed () const
	Return the transpose of this matrix. More...

Static Public Attributes
static const Matrix6< T > &	Identity = detail::gMatrix6Identity<T>
	Identity matrix. More...

static constexpr std::size_t	MatrixSize {6}
	Size of matrix is fixed to 6x6. More...

static const Matrix6< T > &	Zero = detail::gMatrix6Zero<T>
	Zero matrix. More...

Detailed Description

template<typename T>
class gz::math::Matrix6< T >

A 6x6 matrix class.

Member Enumeration Documentation

◆ Matrix6Corner

enum Matrix6Corner

Identifiers for each of the 4 3x3 corners of the matrix.

Enumerator
TOP_LEFT	Top-left corner, consisting of the intersection between the first 3 rows and first 3 columns.
TOP_RIGHT	Top-right corner, consisting of the intersection between the first 3 rows and last 3 columns.
BOTTOM_LEFT	Bottom-left corner, consisting of the intersection between the last 3 rows and first 3 columns.
BOTTOM_RIGHT	Bottom-right corner, consisting of the intersection between the last 3 rows and last 3 columns.

Constructor & Destructor Documentation

◆ Matrix6() [1/3]

Matrix6 ( )

inline

Constructor.

References Matrix6< T >::MatrixSize.

◆ Matrix6() [2/3]

Matrix6 ( const Matrix6< T > & _m )

default

Copy constructor.

Parameters

_m	Matrix to copy

◆ Matrix6() [3/3]

constexpr Matrix6	(	T	_v00,
		T	_v01,
		T	_v02,
		T	_v03,
		T	_v04,
		T	_v05,
		T	_v10,
		T	_v11,
		T	_v12,
		T	_v13,
		T	_v14,
		T	_v15,
		T	_v20,
		T	_v21,
		T	_v22,
		T	_v23,
		T	_v24,
		T	_v25,
		T	_v30,
		T	_v31,
		T	_v32,
		T	_v33,
		T	_v34,
		T	_v35,
		T	_v40,
		T	_v41,
		T	_v42,
		T	_v43,
		T	_v44,
		T	_v45,
		T	_v50,
		T	_v51,
		T	_v52,
		T	_v53,
		T	_v54,
		T	_v55
	)

inlineconstexpr

Constructor.

Parameters

[in]	_v00	Row 0, Col 0 value
[in]	_v01	Row 0, Col 1 value
[in]	_v02	Row 0, Col 2 value
[in]	_v03	Row 0, Col 3 value
[in]	_v04	Row 0, Col 4 value
[in]	_v05	Row 0, Col 5 value
[in]	_v10	Row 1, Col 0 value
[in]	_v11	Row 1, Col 1 value
[in]	_v12	Row 1, Col 2 value
[in]	_v13	Row 1, Col 3 value
[in]	_v14	Row 1, Col 4 value
[in]	_v15	Row 1, Col 5 value
[in]	_v20	Row 2, Col 0 value
[in]	_v21	Row 2, Col 1 value
[in]	_v22	Row 2, Col 2 value
[in]	_v23	Row 2, Col 3 value
[in]	_v24	Row 2, Col 4 value
[in]	_v25	Row 2, Col 5 value
[in]	_v30	Row 3, Col 0 value
[in]	_v31	Row 3, Col 1 value
[in]	_v32	Row 3, Col 2 value
[in]	_v33	Row 3, Col 3 value
[in]	_v34	Row 3, Col 4 value
[in]	_v35	Row 3, Col 5 value
[in]	_v40	Row 4, Col 0 value
[in]	_v41	Row 4, Col 1 value
[in]	_v42	Row 4, Col 2 value
[in]	_v43	Row 4, Col 3 value
[in]	_v44	Row 4, Col 4 value
[in]	_v45	Row 4, Col 5 value
[in]	_v50	Row 5, Col 0 value
[in]	_v51	Row 5, Col 1 value
[in]	_v52	Row 5, Col 2 value
[in]	_v53	Row 5, Col 3 value
[in]	_v54	Row 5, Col 4 value
[in]	_v55	Row 5, Col 5 value

Member Function Documentation

◆ Equal()

bool Equal	(	const Matrix6< 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 Matrix6< T >::operator==().

◆ operator!=()

bool operator!= ( const Matrix6< T > & _m ) const

inline

Inequality test operator.

Parameters

[in] _m Matrix6<T> to test

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

◆ operator()() [1/2]

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

inline

Get a mutable version of the value at the specified row, column index.

Parameters

[in]	_row	the row index. Index values are clamped to a range of [0, 5].
[in]	_col	The column index. Index values are clamped to a range of [0, 5].

Returns: The value at the specified index

References gz::math::clamp(), gz::math::GZ_FIVE_SIZE_T, and gz::math::GZ_ZERO_SIZE_T.

◆ operator()() [2/2]

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

inline

Get the value at the specified row, column index.

Parameters

[in]	_col	The column index. Index values are clamped to a range of [0, 5].
[in]	_row	the row index. Index values are clamped to a range of [0, 5].

Returns: The value at the specified index

References gz::math::clamp(), gz::math::GZ_FIVE_SIZE_T, and gz::math::GZ_ZERO_SIZE_T.

◆ operator*()

Matrix6<T> operator* ( const Matrix6< T > & _m2 ) const

inline

Multiplication operator.

Parameters

[in] _m2 Incoming matrix

Returns: This matrix * _m2

References Matrix6< T >::MatrixSize.

◆ operator*=()

Matrix6<T> operator*= ( const Matrix6< T > & _m2 )

inline

Multiplication assignment operator. This matrix will become equal to this * _m2.

Parameters

[in] _m2 Incoming matrix.

Returns: This matrix * _m2.

◆ operator+()

Matrix6<T> operator+ ( const Matrix6< T > & _m2 ) const

inline

Addition operator.

Parameters

[in] _m2 Incoming matrix

Returns: This matrix + _m2

◆ operator+=()

Matrix6<T> operator+= ( const Matrix6< T > & _m2 )

inline

Addition assignment operator. This matrix will become equal to this + _m2.

Parameters

[in] _m2 Incoming matrix.

Returns: This matrix + _m2.

◆ operator=()

Matrix6<T>& operator= ( const Matrix6< T > & _mat )

default

Assignment operator. this = _mat.

Parameters

_mat	Incoming matrix

Returns: itself

◆ operator==()

bool operator== ( const Matrix6< T > & _m ) const

inline

Equality operator.

Parameters

[in] _m Matrix6 to test

Returns: true if the 2 matrices are equal (using the tolerance 1e-6), false otherwise

References Matrix6< T >::Equal().

◆ Set()

void Set	(	T	_v00,
		T	_v01,
		T	_v02,
		T	_v03,
		T	_v04,
		T	_v05,
		T	_v10,
		T	_v11,
		T	_v12,
		T	_v13,
		T	_v14,
		T	_v15,
		T	_v20,
		T	_v21,
		T	_v22,
		T	_v23,
		T	_v24,
		T	_v25,
		T	_v30,
		T	_v31,
		T	_v32,
		T	_v33,
		T	_v34,
		T	_v35,
		T	_v40,
		T	_v41,
		T	_v42,
		T	_v43,
		T	_v44,
		T	_v45,
		T	_v50,
		T	_v51,
		T	_v52,
		T	_v53,
		T	_v54,
		T	_v55
	)

inline

Change the values.

Parameters

[in]	_v00	Row 0, Col 0 value
[in]	_v01	Row 0, Col 1 value
[in]	_v02	Row 0, Col 2 value
[in]	_v03	Row 0, Col 3 value
[in]	_v04	Row 0, Col 4 value
[in]	_v05	Row 0, Col 5 value
[in]	_v10	Row 1, Col 0 value
[in]	_v11	Row 1, Col 1 value
[in]	_v12	Row 1, Col 2 value
[in]	_v13	Row 1, Col 3 value
[in]	_v14	Row 1, Col 4 value
[in]	_v15	Row 1, Col 5 value
[in]	_v20	Row 2, Col 0 value
[in]	_v21	Row 2, Col 1 value
[in]	_v22	Row 2, Col 2 value
[in]	_v23	Row 2, Col 3 value
[in]	_v24	Row 2, Col 4 value
[in]	_v25	Row 2, Col 5 value
[in]	_v30	Row 3, Col 0 value
[in]	_v31	Row 3, Col 1 value
[in]	_v32	Row 3, Col 2 value
[in]	_v33	Row 3, Col 3 value
[in]	_v34	Row 3, Col 4 value
[in]	_v35	Row 3, Col 5 value
[in]	_v40	Row 4, Col 0 value
[in]	_v41	Row 4, Col 1 value
[in]	_v42	Row 4, Col 2 value
[in]	_v43	Row 4, Col 3 value
[in]	_v44	Row 4, Col 4 value
[in]	_v45	Row 4, Col 5 value
[in]	_v50	Row 5, Col 0 value
[in]	_v51	Row 5, Col 1 value
[in]	_v52	Row 5, Col 2 value
[in]	_v53	Row 5, Col 3 value
[in]	_v54	Row 5, Col 4 value
[in]	_v55	Row 5, Col 5 value

◆ SetSubmatrix()

void SetSubmatrix	(	Matrix6Corner	_corner,
		const Matrix3< T > &	_mat
	)

inline

Set one of the four 3x3 submatrices that compose this matrix. These submatrices are formed by dividing the 6x6 matrix in 4 parts that do not overlap with each other.

Parameters

[in]	_corner	Which corner to set.
[in]	_mat	The matrix to set.

References Matrix6< T >::BOTTOM_LEFT, Matrix6< T >::BOTTOM_RIGHT, and Matrix6< T >::TOP_RIGHT.

Referenced by Inertial< T >::BodyMatrix().

◆ SetValue()

bool SetValue	(	size_t	_row,
		size_t	_col,
		T	_v
	)

inline

Set a value in a specific row and col param[in] _row Row of the matrix param[in] _col Col of the matrix param[in] _v Value to assign.

Returns: Tru if the value was setted, False otherwise

References Matrix6< T >::MatrixSize.

◆ Submatrix()

Matrix3<T> Submatrix ( Matrix6Corner _corner ) const

inline

Get one of the four 3x3 submatrices that compose this matrix. These submatrices are formed by dividing the 6x6 matrix in 4 parts that do not overlap with each other.

Parameters

[in] _corner Which corner to retrieve.

Returns: A new matrix containing the values of the submatrix.

References Matrix6< T >::BOTTOM_LEFT, Matrix6< T >::BOTTOM_RIGHT, and Matrix6< T >::TOP_RIGHT.

◆ Transpose()

void Transpose ( )

inline

Transpose this matrix.

References std::swap().

◆ Transposed()

Matrix6<T> Transposed ( ) const

inline

Return the transpose of this matrix.

Returns: Transpose of this matrix.

Referenced by Inertial< T >::BodyMatrix().

Member Data Documentation

◆ Identity

const Matrix6< T > & Identity = detail::gMatrix6Identity<T>

static

Identity matrix.

◆ MatrixSize

constexpr std::size_t MatrixSize {6}

staticconstexpr

Size of matrix is fixed to 6x6.

Referenced by Matrix6< T >::Matrix6(), Matrix6< T >::operator*(), and Matrix6< T >::SetValue().

◆ Zero

const Matrix6< T > & Zero = detail::gMatrix6Zero<T>

static

Zero matrix.

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

gz/math/Matrix6.hh

Gazebo Math

API Reference

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<typename T>
class gz::math::Matrix6< T >

Member Enumeration Documentation

◆ Matrix6Corner

Constructor & Destructor Documentation

◆ Matrix6() [1/3]

◆ Matrix6() [2/3]

◆ Matrix6() [3/3]

Member Function Documentation

◆ Equal()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator=()

◆ operator==()

◆ Set()

◆ SetSubmatrix()

◆ SetValue()

◆ Submatrix()

◆ Transpose()

◆ Transposed()

Member Data Documentation

◆ Identity

◆ MatrixSize

◆ Zero

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<typename T> class gz::math::Matrix6< T >

Member Enumeration Documentation

◆ Matrix6Corner

Constructor & Destructor Documentation

◆ Matrix6() [1/3]

◆ Matrix6() [2/3]

◆ Matrix6() [3/3]

Member Function Documentation

◆ Equal()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator=()

◆ operator==()

◆ Set()

◆ SetSubmatrix()

◆ SetValue()

◆ Submatrix()

◆ Transpose()

◆ Transposed()

Member Data Documentation

◆ Identity

◆ MatrixSize

◆ Zero

template<typename T>
class gz::math::Matrix6< T >