Matrix3.hh
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17 #ifndef _MATRIX3_HH_
18 #define _MATRIX3_HH_
19
20 #include <assert.h>
21
22 #include "gazebo/math/Vector3.hh"
23 #include "gazebo/util/system.hh"
24
25 namespace gazebo
26 {
27  namespace math
28  {
31
35  {
37  public: Matrix3();
38
41  public: Matrix3(const Matrix3 &_m);
42
53  public: Matrix3(double _v00, double _v01, double _v02,
54  double _v10, double _v11, double _v12,
55  double _v20, double _v21, double _v22);
56
58  public: virtual ~Matrix3();
59
64  public: void SetFromAxes(const Vector3 &_xAxis,
65  const Vector3 &_yAxis,
66  const Vector3 &_zAxis);
67
68
72  public: void SetFromAxis(const Vector3 &_axis, double _angle);
73
77  public: void SetCol(unsigned int _c, const Vector3 &_v);
78
80  public: Matrix3 operator-(const Matrix3 &_m) const
81  {
82  return Matrix3(
83  // first row
84  this->m[0][0]-_m[0][0], this->m[0][1]-_m[0][1], this->m[0][2]-_m[0][2],
85  this->m[1][0]-_m[1][0], this->m[1][1]-_m[1][1], this->m[1][2]-_m[1][2],
86  this->m[2][0]-_m[2][0], this->m[2][1]-_m[2][1], this->m[2][2]-_m[2][2]);
87  }
88
90  public: Matrix3 operator+(const Matrix3 &_m) const
91  {
92  return Matrix3(
93  // first row
94  this->m[0][0]+_m[0][0], this->m[0][1]+_m[0][1], this->m[0][2]+_m[0][2],
95  this->m[1][0]+_m[1][0], this->m[1][1]+_m[1][1], this->m[1][2]+_m[1][2],
96  this->m[2][0]+_m[2][0], this->m[2][1]+_m[2][1], this->m[2][2]+_m[2][2]);
97  }
98
100  public: Matrix3 operator*(const double &_s) const
101  {
102  return Matrix3(
103  // first row
104  _s * this->m[0][0], _s * this->m[0][1], _s * this->m[0][2],
105  _s * this->m[1][0], _s * this->m[1][1], _s * this->m[1][2],
106  _s * this->m[2][0], _s * this->m[2][1], _s * this->m[2][2]);
107  }
108
113  public: friend inline Matrix3 operator*(double _s,
114  const Matrix3 &_m)
115  { return _m * _s; }
116
120  public: Matrix3 operator*(const Matrix3 &_m) const
121  {
122  return Matrix3(
123  // first row
124  this->m[0][0]*_m[0][0]+this->m[0][1]*_m[1][0]+this->m[0][2]*_m[2][0],
125  this->m[0][0]*_m[0][1]+this->m[0][1]*_m[1][1]+this->m[0][2]*_m[2][1],
126  this->m[0][0]*_m[0][2]+this->m[0][1]*_m[1][2]+this->m[0][2]*_m[2][2],
127  // second row
128  this->m[1][0]*_m[0][0]+this->m[1][1]*_m[1][0]+this->m[1][2]*_m[2][0],
129  this->m[1][0]*_m[0][1]+this->m[1][1]*_m[1][1]+this->m[1][2]*_m[2][1],
130  this->m[1][0]*_m[0][2]+this->m[1][1]*_m[1][2]+this->m[1][2]*_m[2][2],
131  // third row
132  this->m[2][0]*_m[0][0]+this->m[2][1]*_m[1][0]+this->m[2][2]*_m[2][0],
133  this->m[2][0]*_m[0][1]+this->m[2][1]*_m[1][1]+this->m[2][2]*_m[2][1],
134  this->m[2][0]*_m[0][2]+this->m[2][1]*_m[1][2]+this->m[2][2]*_m[2][2]);
135  }
136
140  public: bool operator==(const Matrix3 &_m) const;
141
145  public: inline math::Vector3 operator*(const math::Vector3 &_v) const
146  {
147  return math::Vector3(
148  this->m[0][0]*_v.x + this->m[0][1]*_v.y + this->m[0][2]*_v.z,
149  this->m[1][0]*_v.x + this->m[1][1]*_v.y + this->m[1][2]*_v.z,
150  this->m[2][0]*_v.x + this->m[2][1]*_v.y + this->m[2][2]*_v.z);
151  }
152
156  public: inline const double *operator[](size_t _row) const
157  {
158  assert(_row < 3);
159  return this->m[_row];
160  }
161
165  public: inline double *operator[](size_t _row)
166  {
167  assert(_row < 3);
168  return this->m[_row];
169  }
170
171
176  public: friend std::ostream &operator<<(std::ostream &_out,
177  const gazebo::math::Matrix3 &_m)
178  {
179  for (int i = 0; i < 3; i++)
180  {
181  for (int j = 0; j < 3; j++)
182  {
183  _out << _m.m[i][j] << " ";
184  }
185  _out << "\n";
186  }
187
188  return _out;
189  }
190
192  public: static const Matrix3 IDENTITY;
193
195  public: static const Matrix3 ZERO;
196
198  protected: double m[3][3];
199
200  friend class Matrix4;
201  };
203  }
204 }
205 #endif
206
207
208
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
const double * operator[](size_t _row) const
Array subscript operator.
Definition: Matrix3.hh:156
Matrix3 operator+(const Matrix3 &_m) const
returns the element wise sum of two matrices
Definition: Matrix3.hh:90
math::Vector3 operator*(const math::Vector3 &_v) const
Matrix times Vector3 operator.
Definition: Matrix3.hh:145
Matrix3 operator-(const Matrix3 &_m) const
returns the element wise difference of two matrices
Definition: Matrix3.hh:80
A 3x3 matrix class.
Definition: Matrix4.hh:39
friend Matrix3 operator*(double _s, const Matrix3 &_m)
Multiplication operators.
Definition: Matrix3.hh:113
double x
X location.
Definition: Vector3.hh:302
double z
Z location.
Definition: Vector3.hh:308
Matrix3 operator*(const Matrix3 &_m) const
Matrix multiplication operator.
Definition: Matrix3.hh:120
double * operator[](size_t _row)
Array subscript operator.
Definition: Matrix3.hh:165
static const Matrix3 IDENTITY
Identity matrix.
Definition: Matrix3.hh:192
A 3x3 matrix class.
Definition: Matrix3.hh:34
friend std::ostream & operator<<(std::ostream &_out, const gazebo::math::Matrix3 &_m)
Stream insertion operator.
Definition: Matrix3.hh:176
double m[3][3]
the 3x3 matrix
Definition: Matrix3.hh:198
Matrix3 operator*(const double &_s) const
returns the element wise scalar multiplication
Definition: Matrix3.hh:100
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
double y
Y location.
Definition: Vector3.hh:305
static const Matrix3 ZERO
Zero matrix.
Definition: Matrix3.hh:195