gazebo::math::Matrix4 Class Reference

A 3x3 matrix class. More...

#include <math/gzmath.hh>

Public Member Functions
	Matrix4 ()
	Constructor.
	Matrix4 (const Matrix4 &_m)
	Copy constructor.
	Matrix4 (double _v00, double _v01, double _v02, double _v03, double _v10, double _v11, double _v12, double _v13, double _v20, double _v21, double _v22, double _v23, double _v30, double _v31, double _v32, double _v33)
	Constructor.
virtual	~Matrix4 ()
	Destructor.
math::Pose	GetAsPose () const
	Get the transformation as math::Pose.
Vector3	GetEulerRotation (unsigned int solution_number=1) const
	Get the rotation as a Euler angles.
Quaternion	GetRotation () const
	Get the rotation as a quaternion.
Vector3	GetTranslation () const
	Get the translational values as a Vector3.
Matrix4	Inverse () const
	Return the inverse matrix.
bool	IsAffine () const
	Return true if the matrix is affine.
Matrix4	operator* (const Matrix4 &_mat) const
	Multiplication operator.
Matrix4	operator* (const Matrix3 &_mat) const
	Multiplication operator.
Vector3	operator* (const Vector3 &_vec) const
	Multiplication operator.
Matrix4 &	operator= (const Matrix4 &_mat)
	Equal operator.
const Matrix4 &	operator= (const Matrix3 &_mat)
	Equal operator for 3x3 matrix.
bool	operator== (const Matrix4 &_m) const
	Equality operator.
double *	operator[] (size_t _row)
	Array subscript operator.
const double *	operator[] (size_t _row) const
void	Set (double _v00, double _v01, double _v02, double _v03, double _v10, double _v11, double _v12, double _v13, double _v20, double _v21, double _v22, double _v23, double _v30, double _v31, double _v32, double _v33)
	Change the values.
void	SetScale (const Vector3 &_s)
	Set the scale.
void	SetTranslate (const Vector3 &_t)
	Set the translational values [ (0, 3) (1, 3) (2, 3) ].
Vector3	TransformAffine (const Vector3 &_v) const
	Perform an affine transformation.

Static Public Attributes
static const Matrix4	IDENTITY
	Identity matrix.
static const Matrix4	ZERO
	Zero matrix.

Protected Attributes
double	m [4][4]
	The 4x4 matrix.

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::math::Matrix4 &_m)
	Stream insertion operator.

Detailed Description

A 3x3 matrix class.

Constructor & Destructor Documentation

gazebo::math::Matrix4::Matrix4

(

)

Constructor.

gazebo::math::Matrix4::Matrix4

(

const Matrix4 &

_m

)

Copy constructor.

Parameters

_m	Matrix to copy

gazebo::math::Matrix4::Matrix4	(	double	_v00,
		double	_v01,
		double	_v02,
		double	_v03,
		double	_v10,
		double	_v11,
		double	_v12,
		double	_v13,
		double	_v20,
		double	_v21,
		double	_v22,
		double	_v23,
		double	_v30,
		double	_v31,
		double	_v32,
		double	_v33
	)

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]	_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]	_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]	_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

virtual gazebo::math::Matrix4::~Matrix4 ( )

virtual

Destructor.

Member Function Documentation

math::Pose gazebo::math::Matrix4::GetAsPose

(

)

const

Get the transformation as math::Pose.

Returns

the pose

Vector3 gazebo::math::Matrix4::GetEulerRotation

(

unsigned int

solution_number = 1

)

const

Get the rotation as a Euler angles.

Returns

the rotation

Quaternion gazebo::math::Matrix4::GetRotation

(

)

const

Get the rotation as a quaternion.

Returns

the rotation

Vector3 gazebo::math::Matrix4::GetTranslation

(

)

const

Get the translational values as a Vector3.

Returns

x,y,z

Matrix4 gazebo::math::Matrix4::Inverse

(

)

const

Return the inverse matrix.

bool gazebo::math::Matrix4::IsAffine

(

)

const

Return true if the matrix is affine.

Returns

true if the matrix is affine, false otherwise

Matrix4 gazebo::math::Matrix4::operator*

(

const Matrix4 &

_mat

)

const

Multiplication operator.

Parameters

_mat	Incoming matrix

Returns

This matrix * _mat

Matrix4 gazebo::math::Matrix4::operator*

(

const Matrix3 &

_mat

)

const

Multiplication operator.

Parameters

_mat	Incoming matrix

Returns

This matrix * _mat

Vector3 gazebo::math::Matrix4::operator*

(

const Vector3 &

_vec

)

const

Multiplication operator.

Parameters

_vec

Vector3

Returns

Resulting vector from multiplication

Matrix4& gazebo::math::Matrix4::operator=

(

const Matrix4 &

_mat

)

Equal operator.

this = _mat

Parameters

_mat	Incoming matrix

Returns

itself

const Matrix4& gazebo::math::Matrix4::operator=

(

const Matrix3 &

_mat

)

Equal operator for 3x3 matrix.

Parameters

_mat	Incoming matrix

Returns

itself

bool gazebo::math::Matrix4::operator==

(

const Matrix4 &

_m

)

const

Equality operator.

Parameters

[in]

_m

Matrix3 to test

Returns

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

double* gazebo::math::Matrix4::operator[] ( size_t  _row )

inline

Array subscript operator.

Parameters

[in]

_row

the row index

Returns

the row

References m.

const double* gazebo::math::Matrix4::operator[] ( size_t  _row ) const

inline

Parameters

[in]

_row

the row index

Returns

the row

References m.

void gazebo::math::Matrix4::Set	(	double	_v00,
		double	_v01,
		double	_v02,
		double	_v03,
		double	_v10,
		double	_v11,
		double	_v12,
		double	_v13,
		double	_v20,
		double	_v21,
		double	_v22,
		double	_v23,
		double	_v30,
		double	_v31,
		double	_v32,
		double	_v33
	)

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]	_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]	_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]	_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

void gazebo::math::Matrix4::SetScale

(

const Vector3 &

_s

)

Set the scale.

Parameters

[in]

_s

scale

void gazebo::math::Matrix4::SetTranslate

(

const Vector3 &

_t

)

Set the translational values [ (0, 3) (1, 3) (2, 3) ].

Parameters

[in]

_t

Values to set

Vector3 gazebo::math::Matrix4::TransformAffine

(

const Vector3 &

_v

)

const

Perform an affine transformation.

Parameters

_v	Vector3 value for the transformation

Returns

The result of the transformation

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  _out, const gazebo::math::Matrix4 &  _m  )

friend

Stream insertion operator.

Parameters

_out	output stream
_m	Matrix to output

Returns

the stream

Member Data Documentation

const Matrix4 gazebo::math::Matrix4::IDENTITY

static

Identity matrix.

double gazebo::math::Matrix4::m[4][4]

protected

The 4x4 matrix.

Referenced by operator[]().

const Matrix4 gazebo::math::Matrix4::ZERO

static

Zero matrix.

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

• Matrix4.hh