Matrix3 Class Reference

A 3x3 matrix class. More...

#include <Matrix3.hh>

Public Member Functions
	Matrix3 ()
	Constructor. More...
	Matrix3 (const Matrix3 &_m)
	Copy constructor. More...
	Matrix3 (double _v00, double _v01, double _v02, double _v10, double _v11, double _v12, double _v20, double _v21, double _v22)
	Constructor. More...
virtual	~Matrix3 ()
	Desctructor. 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() [1/3]

Matrix3

(

)

Constructor.

Referenced by Matrix3::operator*(), Matrix3::operator+(), and Matrix3::operator-().

Matrix3() [2/3]

Matrix3

(

const Matrix3 &

_m

)

Copy constructor.

Parameters

_m	Matrix to copy

Matrix3() [3/3]

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()

virtual ~Matrix3 ( )

virtual

Desctructor.

Member Function Documentation

Inverse()

Matrix3 Inverse

(

)

const

Return the inverse matrix.

Returns

Inverse of this matrix.

operator*() [1/3]

Matrix3 operator* ( const double &  _s ) const

inline

returns the element wise scalar multiplication

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

operator*() [2/3]

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==().

operator*() [3/3]

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.

operator+()

Matrix3 operator+ ( const Matrix3 &  _m ) const

inline

returns the element wise sum of two matrices

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

operator-()

Matrix3 operator- ( const Matrix3 &  _m ) const

inline

returns the element wise difference of two matrices

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

operator==()

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*().

operator[]() [1/2]

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.

operator[]() [2/2]

double* operator[] ( size_t  _row )

inline

Array subscript operator.

Parameters

[in]

_row

row index

Returns

a pointer to the row

References Matrix3::m.

SetCol()

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

SetFromAxes()

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

SetFromAxis()

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

operator*

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

friend

Multiplication operators.

Parameters

[in]	_s	the scaling factor
[in]	_m	input matrix

Returns

a scaled matrix

operator<<

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

IDENTITY

const Matrix3 IDENTITY

static

Identity matrix.

m

double m[3][3]

protected

the 3x3 matrix

Referenced by Matrix3::operator*(), Matrix3::operator+(), Matrix3::operator-(), and Matrix3::operator[]().

ZERO

const Matrix3 ZERO

static

Zero matrix.

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

• Matrix3.hh