Matrix6< T > Class Template Reference

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.
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.
bool	Equal (const Matrix6 &_m, const T &_tol) const
	Equality test with tolerance.
bool	operator!= (const Matrix6< T > &_m) const
	Inequality test operator.
T &	operator() (const size_t _row, const size_t _col)
	Get a mutable version of the value at the specified row, column index.
const T &	operator() (const size_t _row, const size_t _col) const
	Get the value at the specified row, column index.
Matrix6< T >	operator* (const Matrix6< T > &_m2) const
	Multiplication operator.
Matrix6< T >	operator*= (const Matrix6< T > &_m2)
	Multiplication assignment operator. This matrix will become equal to this * _m2.
Matrix6< T >	operator+ (const Matrix6< T > &_m2) const
	Addition operator.
Matrix6< T >	operator+= (const Matrix6< T > &_m2)
	Addition assignment operator. This matrix will become equal to this + _m2.
bool	operator== (const Matrix6< T > &_m) const
	Equality operator.
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.
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.
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.
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.
void	Transpose ()
	Transpose this matrix.
Matrix6< T >	Transposed () const
	Return the transpose of this matrix.

Static Public Attributes
static const Matrix6< T > &	Identity = detail::gMatrix6Identity<T>
	Identity matrix.
static constexpr std::size_t	MatrixSize {6}
	Size of matrix is fixed to 6x6.
static const Matrix6< T > &	Zero = detail::gMatrix6Zero<T>
	Zero matrix.

Detailed Description

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

A 6x6 matrix class.

Member Enumeration Documentation

Matrix6Corner

template<typename T >

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() [1/2]

template<typename T >

Matrix6 ( )

inline

Constructor.

References Matrix6< T >::MatrixSize.

Referenced by Matrix6< T >::Matrix6().

Matrix6() [2/2]

template<typename T >

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

References Matrix6< T >::Matrix6().

Member Function Documentation

Equal()

template<typename T >

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 Pose3< T >::Equal(), MassMatrix3< T >::PrincipalAxesOffset(), and MassMatrix3< T >::PrincipalMoments().

operator!=()

template<typename T >

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]

template<typename T >

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]

template<typename T >

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*()

template<typename T >

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

inline

Multiplication operator.

Parameters

[in]

_m2

Incoming matrix

Returns

This matrix * _m2

operator*=()

template<typename T >

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+()

template<typename T >

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

inline

Addition operator.

Parameters

[in]

_m2

Incoming matrix

Returns

This matrix + _m2

operator+=()

template<typename T >

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==()

template<typename T >

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

Set()

template<typename T >

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

Referenced by Quaternion< T >::AxisAngle(), Line3< T >::Distance(), MassMatrix3< T >::PrincipalAxesOffset(), Pose3< T >::Reset(), Line3< T >::Set(), Line3< T >::Set(), Line2< T >::Set(), Pose3< T >::Set(), Quaternion< T >::SetFrom2Axes(), MassMatrix3< T >::SetInertiaMatrix(), MassMatrix3< T >::SetMoi(), and Matrix4< T >::TransformAffine().

SetSubmatrix()

template<typename T >

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.

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

SetValue()

template<typename T >

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

Submatrix()

template<typename T >

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.

Transpose()

template<typename T >

void Transpose ( )

inline

Transpose this matrix.

References std::swap().

Transposed()

template<typename T >

Matrix6< T > Transposed ( ) const

inline

Return the transpose of this matrix.

Returns

Transpose of this matrix.

Referenced by Inertial< T >::BodyMatrix(), Inertial< T >::Moi(), MassMatrix3< T >::SetFromBox(), MassMatrix3< T >::SetFromConeZ(), MassMatrix3< T >::SetFromCylinderZ(), and Inertial< T >::SetMassMatrixRotation().

Member Data Documentation

Identity

template<typename T >

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

static

Identity matrix.

MatrixSize

template<typename T >

constexpr std::size_t MatrixSize {6}

staticconstexpr

Size of matrix is fixed to 6x6.

Referenced by Matrix6< T >::Matrix6().

Zero

template<typename T >

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

static

Zero matrix.

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

• Matrix6.hh