gazebo::math::Matrix3 Class Reference

A 3x3 matrix class. More...

#include <Matrix3.hh>

Public Member Functions
	Matrix3 ()
	Constructor.
	Matrix3 (const Matrix3 &_m)
	Copy constructor.
	Matrix3 (double _v00, double _v01, double _v02, double _v10, double _v11, double _v12, double _v20, double _v21, double _v22)
	Constructor.
virtual	~Matrix3 ()
	Desctructor.
Matrix3	operator* (const double &_s) const
	returns the element wise scalar multiplication
Matrix3	operator* (const Matrix3 &_m) const
	Matrix multiplication operator.
Matrix3	operator+ (const Matrix3 &_m) const
	returns the element wise sum of two matrices
Matrix3	operator- (const Matrix3 &_m) const
	returns the element wise difference of two matrices
bool	operator== (const Matrix3 &_m) const
	Equality test operator.
const double *	operator[] (size_t _row) const
	Array subscript operator.
double *	operator[] (size_t _row)
	Array subscript operator.
void	SetCol (unsigned int _c, const Vector3 &_v)
	Set a column.
void	SetFromAxes (const Vector3 &_xAxis, const Vector3 &_yAxis, const Vector3 &_zAxis)
	Set the matrix from three axis (1 per column)
void	SetFromAxis (const Vector3 &_axis, double _angle)
	Set the matrix from an axis and angle.

Protected Attributes
double	m [3][3]
	the 3x3 matrix

Friends
Matrix3	operator* (double _s, const Matrix3 &_m)
	Multiplication operators.
std::ostream &	operator<< (std::ostream &_out, const gazebo::math::Matrix3 &_m)
	Stream insertion operator.

Detailed Description

A 3x3 matrix class.

Constructor & Destructor Documentation

gazebo::math::Matrix3::Matrix3

(

)

Constructor.

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

gazebo::math::Matrix3::Matrix3

(

const Matrix3 &

_m

)

Copy constructor.

Parameters

_m	Matrix to copy

gazebo::math::Matrix3::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

virtual gazebo::math::Matrix3::~Matrix3 ( )

virtual

Desctructor.

Member Function Documentation

Matrix3 gazebo::math::Matrix3::operator* ( const double &  _s ) const

inline

returns the element wise scalar multiplication

References m, and Matrix3().

Matrix3 gazebo::math::Matrix3::operator* ( const Matrix3 &  _m ) const

inline

Matrix multiplication operator.

Parameters

[in]

_m

Matrix3 to multiply

Returns

product of this * _m

References m, and Matrix3().

Matrix3 gazebo::math::Matrix3::operator+ ( const Matrix3 &  _m ) const

inline

returns the element wise sum of two matrices

References m, and Matrix3().

Matrix3 gazebo::math::Matrix3::operator- ( const Matrix3 &  _m ) const

inline

returns the element wise difference of two matrices

References m, and Matrix3().

bool gazebo::math::Matrix3::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)

const double* gazebo::math::Matrix3::operator[] ( size_t  _row ) const

inline

Array subscript operator.

Parameters

[in]

_row

row index

Returns

a pointer to the row

References m.

double* gazebo::math::Matrix3::operator[] ( size_t  _row )

inline

Array subscript operator.

Parameters

[in]

_row

row index

Returns

a pointer to the row

References m.

void gazebo::math::Matrix3::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

void gazebo::math::Matrix3::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

void gazebo::math::Matrix3::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

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

friend

Multiplication operators.

Parameters

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

Returns

a scaled matrix

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

double gazebo::math::Matrix3::m[3][3]

protected

the 3x3 matrix

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

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

• Matrix3.hh