ignition::math::Matrix4< T > Class Template Reference

A 4x4 matrix class. More...

#include <ignition/math/Matrix4.hh>

Public Member Functions
	Matrix4 ()
	Constructor. More...
	Matrix4 (const Matrix4< T > &_m)
	Copy constructor. More...
	Matrix4 (T _v00, T _v01, T _v02, T _v03, T _v10, T _v11, T _v12, T _v13, T _v20, T _v21, T _v22, T _v23, T _v30, T _v31, T _v32, T _v33)
	Constructor. More...
	Matrix4 (const Quaternion< T > &_q)
	Construct Matrix4 from a quaternion. More...
virtual	~Matrix4 ()
	Destructor. More...
void	Axis (const Vector3< T > &_axis, T _angle)
	Set the upper-left 3x3 matrix from an axis and angle. More...
Vector3< T >	EulerRotation (bool _firstSolution) const
	Get the rotation as a Euler angles. More...
Matrix4< T >	Inverse () const
	Return the inverse matrix. More...
bool	IsAffine () const
	Return true if the matrix is affine. More...
bool	operator!= (const Matrix4< T > &_m) const
	Inequality test operator. More...
const T &	operator() (size_t _row, size_t _col) const
	Get the value at the specified row, column index. More...
T &	operator() (size_t _row, size_t _col)
	Get a mutable version the value at the specified row, column index. More...
Matrix4< T >	operator* (const Matrix4< T > &_m2) const
	Multiplication operator. More...
Vector3< T >	operator* (const Vector3< T > &_vec) const
	Multiplication operator. More...
Matrix4< T > &	operator= (const Matrix4< T > &_mat)
	Equal operator. More...
const Matrix4< T > &	operator= (const Matrix3< T > &_mat)
	Equal operator for 3x3 matrix. More...
bool	operator== (const Matrix4< T > &_m) const
	Equality operator. More...
Pose3< T >	Pose () const
	Get the transformation as math::Pose. More...
Quaternion< T >	Rotation () const
	Get the rotation as a quaternion. More...
Vector3< T >	Scale () const
	Get the scale values as a Vector3<T> More...
void	Scale (const Vector3< T > &_s)
	Set the scale. More...
void	Scale (T _x, T _y, T _z)
	Set the scale. More...
void	Set (T _v00, T _v01, T _v02, T _v03, T _v10, T _v11, T _v12, T _v13, T _v20, T _v21, T _v22, T _v23, T _v30, T _v31, T _v32, T _v33)
	Change the values. More...
Vector3< T >	TransformAffine (const Vector3< T > &_v) const
	Perform an affine transformation. More...
void	Translate (const Vector3< T > &_t)
	Set the translational values [ (0, 3) (1, 3) (2, 3) ]. More...
void	Translate (T _x, T _y, T _z)
	Set the translational values [ (0, 3) (1, 3) (2, 3) ]. More...
Vector3< T >	Translation () const
	Get the translational values as a Vector3. More...

Static Public Attributes
static const Matrix4< T >	Identity
	Identity matrix. More...
static const Matrix4< T >	Zero
	Zero matrix. More...

Friends
std::ostream &	operator<< (std::ostream &_out, const ignition::math::Matrix4< T > &_m)
	Stream insertion operator. More...
std::istream &	operator>> (std::istream &_in, ignition::math::Matrix4< T > &_m)
	Stream extraction operator. More...

Detailed Description

template<typename T>
class ignition::math::Matrix4< T >

A 4x4 matrix class.

Constructor & Destructor Documentation

template<typename T>

ignition::math::Matrix4< T >::Matrix4 ( )

inline

Constructor.

template<typename T>

ignition::math::Matrix4< T >::Matrix4 ( const Matrix4< T > &  _m )

inline

Copy constructor.

Parameters

_m	Matrix to copy

template<typename T>

ignition::math::Matrix4< T >::Matrix4 ( T  _v00, T  _v01, T  _v02, T  _v03, T  _v10, T  _v11, T  _v12, T  _v13, T  _v20, T  _v21, T  _v22, T  _v23, T  _v30, T  _v31, T  _v32, T  _v33  )

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]	_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

template<typename T>

ignition::math::Matrix4< T >::Matrix4 ( const Quaternion< T > &  _q )

inline

Construct Matrix4 from a quaternion.

Parameters

[in]

_q

Quaternion.

template<typename T>

virtual ignition::math::Matrix4< T >::~Matrix4 ( )

inlinevirtual

Destructor.

Member Function Documentation

template<typename T>

void ignition::math::Matrix4< T >::Axis ( const Vector3< T > &  _axis, T  _angle  )

inline

Set the upper-left 3x3 matrix from an axis and angle.

Parameters

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

template<typename T>

Vector3<T> ignition::math::Matrix4< T >::EulerRotation ( bool  _firstSolution ) const

inline

Get the rotation as a Euler angles.

Parameters

[in]

_firstSolution

True to get the first Euler solution, false to get the second.

Returns

the rotation

template<typename T>

Matrix4<T> ignition::math::Matrix4< T >::Inverse ( ) const

inline

Return the inverse matrix.

This is a non-destructive operation.

Returns

Inverse of this matrix.

template<typename T>

bool ignition::math::Matrix4< T >::IsAffine ( ) const

inline

Return true if the matrix is affine.

Returns

true if the matrix is affine, false otherwise

Referenced by ignition::math::Matrix4< double >::TransformAffine().

template<typename T>

bool ignition::math::Matrix4< T >::operator!= ( const Matrix4< T > &  _m ) const

inline

Inequality test operator.

Parameters

[in]

_m

Matrix4<T> to test

Returns

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

template<typename T>

const T& ignition::math::Matrix4< T >::operator() ( size_t  _row, size_t  _col  ) const

inline

Get the value at the specified row, column index.

Parameters

[in]	_col	The column index
[in]	_row	the row index

Returns

The value at the specified index

template<typename T>

T& ignition::math::Matrix4< T >::operator() ( size_t  _row, size_t  _col  )

inline

Get a mutable version the value at the specified row, column index.

Parameters

[in]	_col	The column index
[in]	_row	The row index

Returns

The value at the specified index

template<typename T>

Matrix4<T> ignition::math::Matrix4< T >::operator* ( const Matrix4< T > &  _m2 ) const

inline

Multiplication operator.

Parameters

_mat	Incoming matrix

Returns

This matrix * _mat

template<typename T>

Vector3<T> ignition::math::Matrix4< T >::operator* ( const Vector3< T > &  _vec ) const

inline

Multiplication operator.

Parameters

_vec

Vector3

Returns

Resulting vector from multiplication

template<typename T>

Matrix4<T>& ignition::math::Matrix4< T >::operator= ( const Matrix4< T > &  _mat )

inline

Equal operator.

this = _mat

Parameters

_mat	Incoming matrix

Returns

itself

template<typename T>

const Matrix4<T>& ignition::math::Matrix4< T >::operator= ( const Matrix3< T > &  _mat )

inline

Equal operator for 3x3 matrix.

Parameters

_mat	Incoming matrix

Returns

itself

template<typename T>

bool ignition::math::Matrix4< T >::operator== ( const Matrix4< T > &  _m ) const

inline

Equality operator.

Parameters

[in]

_m

Matrix3 to test

Returns

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

template<typename T>

Pose3<T> ignition::math::Matrix4< T >::Pose ( ) const

inline

Get the transformation as math::Pose.

Returns

the pose

template<typename T>

Quaternion<T> ignition::math::Matrix4< T >::Rotation ( ) const

inline

Get the rotation as a quaternion.

Returns

the rotation

algorithm from Ogre::Quaternion<T> source, which in turn is based on Ken Shoemake's article "Quaternion<T> Calculus and Fast Animation".

Referenced by ignition::math::Matrix4< double >::Pose().

template<typename T>

Vector3<T> ignition::math::Matrix4< T >::Scale ( ) const

inline

Get the scale values as a Vector3<T>

Returns

x,y,z scale values

template<typename T>

void ignition::math::Matrix4< T >::Scale ( const Vector3< T > &  _s )

inline

Set the scale.

Parameters

[in]

_s

scale

template<typename T>

void ignition::math::Matrix4< T >::Scale ( T  _x, T  _y, T  _z  )

inline

Set the scale.

Parameters

[in]	_x	X scale value.
[in]	_y	Y scale value.
[in]	_z	Z scale value.

template<typename T>

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

inline

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

Referenced by ignition::math::Matrix4< double >::Matrix4().

template<typename T>

Vector3<T> ignition::math::Matrix4< T >::TransformAffine ( const Vector3< T > &  _v ) const

inline

Perform an affine transformation.

Parameters

_v	Vector3 value for the transformation

Returns

The result of the transformation

Exceptions

AffineException

when matrix is not affine.

template<typename T>

void ignition::math::Matrix4< T >::Translate ( const Vector3< T > &  _t )

inline

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

Parameters

[in]

_t

Values to set

template<typename T>

void ignition::math::Matrix4< T >::Translate ( T  _x, T  _y, T  _z  )

inline

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

Parameters

[in]	_x	X translation value.
[in]	_y	Y translation value.
[in]	_z	Z translation value.

template<typename T>

Vector3<T> ignition::math::Matrix4< T >::Translation ( ) const

inline

Get the translational values as a Vector3.

Returns

x,y,z translation values

Referenced by ignition::math::Matrix4< double >::Pose().

Friends And Related Function Documentation

template<typename T>

std::ostream& operator<< ( std::ostream &  _out, const ignition::math::Matrix4< T > &  _m  )

friend

Stream insertion operator.

Parameters

_out	output stream
_m	Matrix to output

Returns

the stream

template<typename T>

std::istream& operator>> ( std::istream &  _in, ignition::math::Matrix4< T > &  _m  )

friend

Stream extraction operator.

Parameters

_in	input stream
_pt	Matrix4<T> to read values into

Returns

the stream

Member Data Documentation

template<typename T>

const Matrix4< T > ignition::math::Matrix4< T >::Identity

static

Identity matrix.

template<typename T>

const Matrix4< T > ignition::math::Matrix4< T >::Zero

static

Zero matrix.

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

• Matrix4.hh