A 3x3 matrix class. More...

#include <ignition/math/Matrix3.hh>

Public Member Functions
	Matrix3 ()
	Constructor. More...

	Matrix3 (const Matrix3< T > &_m)
	Copy constructor. More...

	Matrix3 (T _v00, T _v01, T _v02, T _v10, T _v11, T _v12, T _v20, T _v21, T _v22)
	Constructor. More...

	Matrix3 (const Quaternion< T > &_q)
	Construct Matrix3 from a quaternion. More...

virtual	~Matrix3 ()
	Desctructor. More...

void	Axes (const Vector3< T > &_xAxis, const Vector3< T > &_yAxis, const Vector3< T > &_zAxis)
	Set the matrix from three axis (1 per column) More...

void	Axis (const Vector3< T > &_axis, T _angle)
	Set the matrix from an axis and angle. More...

void	Col (unsigned int _c, const Vector3< T > &_v)
	Set a column. More...

Matrix3< T >	Inverse () const
	Return the inverse matrix. More...

bool	operator!= (const Matrix3< T > &_m) const
	Inequality test operator. More...

const T &	operator() (size_t _row, size_t _col) const
	Array subscript operator. More...

T &	operator() (size_t _row, size_t _col)
	Array subscript operator. More...

Matrix3< T >	operator* (const T &_s) const
	returns the element wise scalar multiplication More...

Matrix3< T >	operator* (const Matrix3< T > &_m) const
	Matrix multiplication operator. More...

Vector3< T >	operator* (const Vector3< T > &_vec) const
	Multiplication operator. More...

Matrix3< T >	operator+ (const Matrix3< T > &_m) const
	returns the element wise sum of two matrices More...

Matrix3< T >	operator- (const Matrix3< T > &_m) const
	returns the element wise difference of two matrices More...

bool	operator== (const Matrix3< T > &_m) const
	Equality test operator. More...

void	Set (T _v00, T _v01, T _v02, T _v10, T _v11, T _v12, T _v20, T _v21, T _v22)
	Set values. More...

Static Public Attributes
static const Matrix3< T >	Identity
	Identity matrix. More...

static const Matrix3< T >	Zero
	Zero matrix. More...

Friends
Matrix3< T >	operator* (T _s, const Matrix3< T > &_m)
	Matrix multiplication operator for scaling. More...

std::ostream &	operator<< (std::ostream &_out, const ignition::math::Matrix3< T > &_m)
	Stream insertion operator. More...

std::istream &	operator>> (std::istream &_in, ignition::math::Matrix3< T > &_m)
	Stream extraction operator. More...

Detailed Description

template<typename T>
class ignition::math::Matrix3< T >

A 3x3 matrix class.

Constructor & Destructor Documentation

template<typename T>

ignition::math::Matrix3< T >::Matrix3 ( )

inline

Constructor.

template<typename T>

ignition::math::Matrix3< T >::Matrix3 ( const Matrix3< T > & _m )

inline

Copy constructor.

Parameters

_m	Matrix to copy

template<typename T>

ignition::math::Matrix3< T >::Matrix3	(	T	_v00,
		T	_v01,
		T	_v02,
		T	_v10,
		T	_v11,
		T	_v12,
		T	_v20,
		T	_v21,
		T	_v22
	)

inline

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

template<typename T>

ignition::math::Matrix3< T >::Matrix3 ( const Quaternion< T > & _q )

inline

Construct Matrix3 from a quaternion.

Parameters

[in] _q Quaternion.

References ignition::math::Quaternion< T >::Normalize(), ignition::math::Matrix3< T >::Set(), ignition::math::Quaternion< T >::W(), ignition::math::Quaternion< T >::X(), ignition::math::Quaternion< T >::Y(), and ignition::math::Quaternion< T >::Z().

template<typename T>

virtual ignition::math::Matrix3< T >::~Matrix3 ( )

inlinevirtual

Desctructor.

Member Function Documentation

template<typename T>

void ignition::math::Matrix3< T >::Axes	(	const Vector3< T > &	_xAxis,
		const Vector3< T > &	_yAxis,
		const Vector3< T > &	_zAxis
	)

inline

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

References ignition::math::Matrix3< T >::Col().

template<typename T>

void ignition::math::Matrix3< T >::Axis	(	const Vector3< T > &	_axis,
		T	_angle
	)

inline

Set the matrix from an axis and angle.

Parameters

[in]	_axis	the axis
[in]	_angle	ccw rotation around the axis in radians

References ignition::math::Vector3< T >::X(), ignition::math::Vector3< T >::Y(), and ignition::math::Vector3< T >::Z().

template<typename T>

void ignition::math::Matrix3< T >::Col	(	unsigned int	_c,
		const Vector3< T > &	_v
	)

inline

Set a column.

Parameters

[in]	_c	The colum index (0, 1, 2)
[in]	_v	The value to set in each row of the column

References ignition::math::Vector3< T >::X(), ignition::math::Vector3< T >::Y(), and ignition::math::Vector3< T >::Z().

Referenced by ignition::math::Matrix3< T >::Axes().

template<typename T>

Matrix3<T> ignition::math::Matrix3< T >::Inverse ( ) const

inline

Return the inverse matrix.

Returns: Inverse of this matrix.

template<typename T>

bool ignition::math::Matrix3< T >::operator!= ( const Matrix3< T > & _m ) const

inline

Inequality test operator.

Parameters

[in] _m Matrix3<T> to test

Returns: True if not equal (using the default tolerance of 1e-6)

template<typename T>

const T& ignition::math::Matrix3< T >::operator()	(	size_t	_row,
		size_t	_col
	)		const

inline

Array subscript operator.

Parameters

[in] _row row index

Returns: a pointer to the row

template<typename T>

T& ignition::math::Matrix3< T >::operator()	(	size_t	_row,
		size_t	_col
	)

inline

Array subscript operator.

Parameters

[in] _row row index

Returns: a pointer to the row

template<typename T>

Matrix3<T> ignition::math::Matrix3< T >::operator* ( const T & _s ) const

inline

returns the element wise scalar multiplication

template<typename T>

Matrix3<T> ignition::math::Matrix3< T >::operator* ( const Matrix3< T > & _m ) const

inline

Matrix multiplication operator.

Parameters

[in] _m Matrix3<T> to multiply

Returns: product of this * _m

template<typename T>

Vector3<T> ignition::math::Matrix3< T >::operator* ( const Vector3< T > & _vec ) const

inline

Multiplication operator.

Parameters

_vec Vector3

Returns: Resulting vector from multiplication

References ignition::math::Vector3< T >::X(), ignition::math::Vector3< T >::Y(), and ignition::math::Vector3< T >::Z().

template<typename T>

Matrix3<T> ignition::math::Matrix3< T >::operator+ ( const Matrix3< T > & _m ) const

inline

returns the element wise sum of two matrices

template<typename T>

Matrix3<T> ignition::math::Matrix3< T >::operator- ( const Matrix3< T > & _m ) const

inline

returns the element wise difference of two matrices

template<typename T>

bool ignition::math::Matrix3< T >::operator== ( const Matrix3< T > & _m ) const

inline

Equality test operator.

Parameters

[in] _m Matrix3<T> to test

Returns: True if equal (using the default tolerance of 1e-6)

References ignition::math::equal().

template<typename T>

void ignition::math::Matrix3< T >::Set	(	T	_v00,
		T	_v01,
		T	_v02,
		T	_v10,
		T	_v11,
		T	_v12,
		T	_v20,
		T	_v21,
		T	_v22
	)

inline

Set values.

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

Referenced by ignition::math::Matrix3< T >::Matrix3().

Friends And Related Function Documentation

template<typename T>

Matrix3<T> operator*	(	T	_s,
		const Matrix3< T > &	_m
	)

friend

Matrix multiplication operator for scaling.

Parameters

[in]	_s	Scaling factor.
[in]	_m	Input matrix.

Returns: A scaled matrix.

template<typename T>

std::ostream& operator<<	(	std::ostream &	_out,
		const ignition::math::Matrix3< T > &	_m
	)

friend

Stream insertion operator.

Parameters

[in]	_out	Output stream
[in]	_m	Matrix to output

Returns: the stream

template<typename T>

std::istream& operator>>	(	std::istream &	_in,
		ignition::math::Matrix3< T > &	_m
	)

friend

Stream extraction operator.

Parameters

_in	input stream
_pt	Matrix3 to read values into

Returns: the stream

Member Data Documentation

template<typename T>

const Matrix3< T > ignition::math::Matrix3< T >::Identity

static

Identity matrix.

template<typename T>

const Matrix3< T > ignition::math::Matrix3< T >::Zero

static

Zero matrix.

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

Matrix3.hh

Public Member Functions

Static Public Attributes

Friends

Detailed Description

template<typename T> class ignition::math::Matrix3< T >

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename T>
class ignition::math::Matrix3< T >