A 3x3 matrix class. More...

#include <math/gzmath.hh>

Public Member Functions
	Matrix4 ()
	Constructor. More...

	Matrix4 (const Matrix4 &_m)
	Copy constructor. More...

	Matrix4 (const ignition::math::Matrix4d &_m)
	Copy constructor for ignition math. More...

	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. More...

virtual	~Matrix4 ()
	Destructor. More...

math::Pose	GetAsPose () const
	Get the transformation as math::Pose. More...

Vector3	GetEulerRotation (unsigned int solution_number=1) const
	Get the rotation as a Euler angles. More...

Quaternion	GetRotation () const
	Get the rotation as a quaternion. More...

Vector3	GetTranslation () const
	Get the translational values as a Vector3. More...

ignition::math::Matrix4d	Ign () const
	Convert this matrix to an ignition::math::Matrix4d. More...

Matrix4	Inverse () const
	Return the inverse matrix. More...

bool	IsAffine () const
	Return true if the matrix is affine. More...

Matrix4	operator* (const Matrix4 &_mat) const
	Multiplication operator. More...

Matrix4	operator* (const Matrix3 &_mat) const
	Multiplication operator. More...

Vector3	operator* (const Vector3 &_vec) const
	Multiplication operator. More...

Matrix4 &	operator= (const Matrix4 &_mat)
	Equal operator. More...

Matrix4 &	operator= (const ignition::math::Matrix4d &_mat)
	Equal operator for ignition math. More...

const Matrix4 &	operator= (const Matrix3 &_mat)
	Equal operator for 3x3 matrix. More...

bool	operator== (const Matrix4 &_m) const
	Equality operator. More...

double *	operator[] (size_t _row)
	Array subscript operator. More...

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. More...

void	SetScale (const Vector3 &_s)
	Set the scale. More...

void	SetTranslate (const Vector3 &_t)
	Set the translational values [ (0, 3) (1, 3) (2, 3) ]. More...

Vector3	TransformAffine (const Vector3 &_v) const
	Perform an affine transformation. More...

Static Public Attributes
static const Matrix4	IDENTITY
	Identity matrix. More...

static const Matrix4	ZERO
	Zero matrix. More...

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

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

Detailed Description

A 3x3 matrix class.

Constructor & Destructor Documentation

Matrix4 ( )

Constructor.

Matrix4 ( const Matrix4 & _m )

Copy constructor.

Parameters

_m	Matrix to copy

Matrix4 ( const ignition::math::Matrix4d & _m )

Copy constructor for ignition math.

Parameters

_m	Matrix to copy

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 ~Matrix4 ( )

virtual

Destructor.

Member Function Documentation

math::Pose GetAsPose ( ) const

Get the transformation as math::Pose.

Returns: the pose

Vector3 GetEulerRotation ( unsigned int solution_number = 1 ) const

Get the rotation as a Euler angles.

Returns: the rotation

Quaternion GetRotation ( ) const

Get the rotation as a quaternion.

Returns: the rotation

Vector3 GetTranslation ( ) const

Get the translational values as a Vector3.

Returns: x,y,z

ignition::math::Matrix4d Ign ( ) const

Convert this matrix to an ignition::math::Matrix4d.

Returns: This matrix as an ignition::math::Matrix4d.

Matrix4 Inverse ( ) const

Return the inverse matrix.

Returns: Inverse of this matrix.

bool IsAffine ( ) const

Return true if the matrix is affine.

Returns: true if the matrix is affine, false otherwise

Matrix4 operator* ( const Matrix4 & _mat ) const

Multiplication operator.

Parameters

_mat	Incoming matrix

Returns: This matrix * _mat

Matrix4 operator* ( const Matrix3 & _mat ) const

Multiplication operator.

Parameters

_mat	Incoming matrix

Returns: This matrix * _mat

Vector3 operator* ( const Vector3 & _vec ) const

Multiplication operator.

Parameters

_vec Vector3

Returns: Resulting vector from multiplication

Matrix4& operator= ( const Matrix4 & _mat )

Equal operator.

this = _mat

Parameters

_mat	Incoming matrix

Returns: itself

Matrix4& operator= ( const ignition::math::Matrix4d & _mat )

Equal operator for ignition math.

Parameters

_mat	Incoming matrix

Returns: itself

const Matrix4& operator= ( const Matrix3 & _mat )

Equal operator for 3x3 matrix.

Parameters

_mat	Incoming matrix

Returns: itself

bool 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* operator[] ( size_t _row )

inline

Array subscript operator.

Parameters

[in] _row the row index

Returns: the row

References Matrix4::m.

const double* operator[] ( size_t _row ) const

inline

Parameters

[in] _row the row index

Returns: the row

References Matrix4::m.

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.

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 SetScale ( const Vector3 & _s )

Set the scale.

Parameters

[in] _s scale

void SetTranslate ( const Vector3 & _t )

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

Parameters

[in] _t Values to set

Vector3 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 IDENTITY

static

Identity matrix.

double m[4][4]

protected

The 4x4 matrix.

Referenced by Matrix4::operator[]().

const Matrix4 ZERO

static

Zero matrix.

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

Matrix4.hh

Public Member Functions

Static Public Attributes

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation