CSIBCRotMatd Class Reference

Representation of a 3X3 rotation matrix. More...

#include <SIBCRotMatd.h>

Inheritance diagram for CSIBCRotMatd:


Public Member Functions
	CSIBCRotMatd (void)
	CSIBCRotMatd (const CSIBCVector3Dd &in_vct0, const CSIBCVector3Dd &in_vct1, const CSIBCVector3Dd &in_vct2, const bool in_bAreRows=true)
	CSIBCRotMatd (const double in_dA00, const double in_dA01, const double in_dA02, const double in_dA10, const double in_dA11, const double in_dA12, const double in_dA20, const double in_dA21, const double in_dA22)
double	Get (const int in_nRow, const int in_nCol) const
CSIBCRotMatd &	Set (int in_nRow, int in_nCol, const double in_dVal)
CSIBCRotMatd &	Set (double in_dVal[3][3])
CSIBCRotMatd &	Set (const CSIBCMatrix33d &in_mat)
CSIBCRotMatd &	Set (const CSIBCRotMatd &in_mat)
CSIBCRotMatd &	Set (const E3DAxisType in_axis, const double in_dAngle)
CSIBCRotMatd &	SetRow (const int in_nRow, const CSIBCVector3Dd &in_vct)
CSIBCRotMatd &	SetRow (const int in_nRow, double in_dA0, double in_dA1, double in_dA2)
CSIBCRotMatd &	SetCol (const int in_nCol, const CSIBCVector3Dd &in_vct)
CSIBCRotMatd &	SetCol (const int in_nCol, double in_dA0, double in_dA1, double in_dA2)
CSIBCRotMatd &	SetNull ()
CSIBCRotMatd &	SetIdentity (void)
bool	operator== (const CSIBCMatrix33d &in_mat) const
bool	operator!= (const CSIBCMatrix33d &in_mat) const
CSIBCRotMatd &	Mul (const CSIBCRotMatd &in_mat1, const CSIBCRotMatd &in_mat2)
CSIBCRotMatd &	Mul (const CSIBCRotMatd &in_mat)
CSIBCRotMatd &	MulTransByReg (const CSIBCRotMatd &in_mat1, const CSIBCRotMatd &in_mat2)
CSIBCRotMatd &	MulRegByTrans (const CSIBCRotMatd &in_mat1, const CSIBCRotMatd &in_mat2)
CSIBCRotMatd &	Negate (const CSIBCRotMatd &in_mat)
CSIBCRotMatd &	Negate ()
double	GetDet (void) const
double	GetTrace (void) const
CSIBCRotMatd &	Transpose (const CSIBCRotMatd &in_mat)
CSIBCRotMatd &	Transpose (void)
CSIBCRotMatd &	Invert (const CSIBCRotMatd &in_mat)
CSIBCRotMatd &	Invert (void)
Friends
bool	AreAlmostEqual (const CSIBCRotMatd &in_mat1, const CSIBCRotMatd &in_mat2, const double in_dEpsilon=PICO_EPS)

Detailed Description

Representation of a 3X3 rotation matrix.

CSIBCRotMatd is a specialzed 3X3 matrix that represents rotations. It uses double precision-floating point numbers to represent elements in the matrix.

There are several other classes which represent rotations, most notably CSIBCRotationd, which represents a general rotation class, not specific to matricies, quaternions (see CSIBCQuaternion and CSIBCQuaterniond), etc. Several useful functions for rotations can be found in Utility functions for angles and rotations.

There are several other matrix classes aswell. Classes with specific applications, such as CSIBCXfoMatd used for representing transformation matricies, Other matrix classes are not as specialized as CSIBCRotMatd or CSIBCXfoMatd, and are used to represent general matricies. These classes include CSIBCMatrix4x4, CSIBCMatrix44d and CSIBCMartrix33d.

Constructor & Destructor Documentation

CSIBCRotMatd ( void )

Default Constructor. Constructs a rotation matrix representing the identity rotation (meaning no rotation at all).

See also:: CSIBCRotMatd::SetIdentity

CSIBCRotMatd	(	const CSIBCVector3Dd &	in_vct0,
		const CSIBCVector3Dd &	in_vct1,
		const CSIBCVector3Dd &	in_vct2,
		const bool	in_bAreRows = `true`
	)

Constructor. Sets the rows of the new matrix to be in_vct0, in_vct1, and in_vct2. If in_bAreRows is false, then the input vectors are used as the columns of the new matrix. The user is responsible for ensuring that the vectors given represent a possible rotation matrix (vectors are unit vectors, orthogonal to each other).

Parameters:

	in_vct0	The vector to use for the first row (or column) of the matrix.
	in_vct1	The vector to use for the second row (or column) of the matrix.
	in_vct2	The vector to use for the third row (or column) of the matrix.
	in_bAreRows	Whether the vectors given represent rows or columns of the matrix (true == Rows, false == Columns). Defaults to true (rows).

CSIBCRotMatd	(	const double	in_dA00,
		const double	in_dA01,
		const double	in_dA02,
		const double	in_dA10,
		const double	in_dA11,
		const double	in_dA12,
		const double	in_dA20,
		const double	in_dA21,
		const double	in_dA22
	)

Constructor. Specifies the value of each element in the new matrix. The user is responsible for ensuring that the elements given represent a possible rotation matrix (rows must represent unit vectors, and be orthogonal to each other).

Parameters:

	in_dA00	The value for the element in row 1, column 1.
	in_dA01	The value for the element in row 1, column 2
	in_dA02	The value for the element in row 1, column 3
	in_dA10	The value for the element in row 2, column 1.
	in_dA11	The value for the element in row 2, column 2
	in_dA12	The value for the element in row 2, column 3
	in_dA20	The value for the element in row 3, column 1.
	in_dA21	The value for the element in row 3, column 2
	in_dA22	The value for the element in row 3, column 3

Member Function Documentation

double Get	(	const int	in_nRow,
		const int	in_nCol
	)			const

Returns an element of the marix.

Parameters:

	in_nRow	Row index of the element to retrieve (zero indexed).
	in_nCol	Column index of the element to retrieve (zero indexed).

Returns:: double The value of the element at the given matrix position.

See also:: CSIBCRotMatd::Set(int, int, const double)

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& Set	(	int	in_nRow,
		int	in_nCol,
		const double	in_dVal
	)

Sets an element of the matrix.

Parameters:

	in_nRow	Row index of the element to set (zero indexed).
	in_nCol	Column index of the element to set (zero indexed).

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& Set ( double in_dVal[3][3] )

Sets all elements of the matrix.

Parameters:

in_dVal

3x3 array of double values, containing the new values for all the matrix elements.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& Set ( const CSIBCMatrix33d & in_mat )

Sets all elements of the matrix to those contained in in_mat.

Parameters:

in_mat

Matrix to copy all element values from.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& Set ( const CSIBCRotMatd & in_mat )

Sets all elements of the matrix to those contained in in_mat.

Parameters:

in_mat

Matrix to copy all element values from.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

CSIBCRotMatd& Set	(	const E3DAxisType	in_axis,
		const double	in_dAngle
	)

Sets the rotation matrix to be a rotation about the major axis in_axis, of in_dAngle radians.

Parameters:

	in_axis	The major axis for the rotation matrix.
	in_dAngle	Angle of rotation about the major axis, in radians. CSIBCRotMatd& Reference to this matrix.

CSIBCRotMatd& SetRow	(	const int	in_nRow,
		const CSIBCVector3Dd &	in_vct
	)

Sets all elements in a row of the matrix.

Parameters:

	in_nRow	Row index of the row to set (zero indexed).
	in_vct	Vector containing the values to replace the specified row elements with.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& SetRow	(	const int	in_nRow,
		double	in_dA0,
		double	in_dA1,
		double	in_dA2
	)

Sets all elements in a row of the matrix.

Parameters:

	in_nRow	Row index of the row to set (zero indexed).
	in_dA0	Value for the element in the first column of the row.
	in_dA1	Value for the element in the second column of the row.
	in_dA2	Value for the element in the third column of the row.

See also:

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& SetCol	(	const int	in_nCol,
		const CSIBCVector3Dd &	in_vct
	)

Sets all elements in a column of the matrix.

Parameters:

	in_nCol	Column index of the column to set (zero indexed).
	in_vct	Vector containing the values to replace the specified column elements with.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& SetCol	(	const int	in_nCol,
		double	in_dA0,
		double	in_dA1,
		double	in_dA2
	)

Sets all elements in a column of the matrix.

Parameters:

	in_nCol	Column index of the column to set (zero indexed).
	in_dA0	Value for the element in the first row of the column.
	in_dA1	Value for the element in the second row of the column.
	in_dA2	Value for the element in the third row of the column.

See also:

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& SetNull ( )

Sets all elements in the matrix to zero.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:: CSIBCRotMatd::SetIdentity
CSIBCRotMatd::Set

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& SetIdentity ( void )

Sets this matrix to be the identity rotation matrix.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:: CSIBCRotMatd::SetNull
CSIBCRotMatd::Set

Reimplemented from CSIBCMatrix33d.

bool operator== ( const CSIBCMatrix33d & in_mat ) const

Determines whether all corresponding elements of this matrix and in_mat are exactly equal.

Parameters:

in_mat

The matrix to compare equality with.

Returns:: bool true if the matricies are exactly equal, false otherwise.

See also:: CSIBCRotMatd::AreAlmostEqual
CSIBCRotMatd::operator!=

Reimplemented from CSIBCMatrix33d.

bool operator!= ( const CSIBCMatrix33d & in_mat ) const

Determines whether any corresponding elements of this matrix and in_mat are different.

Parameters:

in_mat

The matrix to compare inequality with.

Returns:: bool true if the matricies differ in any element, false otherwise.

See also:: CSIBCRotMatd::AreAlmostEqual
CSIBCRotMatd::operator==

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& Mul	(	const CSIBCRotMatd &	in_mat1,
		const CSIBCRotMatd &	in_mat2
	)

Computes the matrix multiplication of two matricies (in_mat1 * in_mat2) and stores the result in this matrix.

Parameters:

	in_mat1	The first matrix in the multiplication (on the left).
	in_mat2	The second matrix in the multiplication (on the right).

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

CSIBCRotMatd::Mul

CSIBCRotMatd::MulTransByReg

CSIBCRotMatd::MulRegByTrans

CSIBCRotMatd::Div

CSIBCRotMatd& Mul ( const CSIBCRotMatd & in_mat )

Computes the matrix multiplication of this matrix and in_mat (this * in_mat) and stores the result in this matrix.

Parameters:

in_mat

The matrix to right-multiply this matrix by.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

CSIBCRotMatd::Mul

CSIBCRotMatd::MulTransByReg

CSIBCRotMatd::MulRegByTrans

CSIBCRotMatd::Div

CSIBCRotMatd& MulTransByReg	(	const CSIBCRotMatd &	in_mat1,
		const CSIBCRotMatd &	in_mat2
	)

Computes the matrix multiplication of the transpose of in_mat1 and in_mat2 (in_mat1^T * in_mat2) and stores the result in this matrix.

Parameters:

	in_mat1	The first matrix in the multiplication (on the left), to be transposed before multiplication.
	in_mat2	The second matrix in the multiplication (on the right).

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

CSIBCRotMatd::Mul

CSIBCRotMatd::MulRegByTrans

CSIBCRotMatd::Div

CSIBCRotMatd& MulRegByTrans	(	const CSIBCRotMatd &	in_mat1,
		const CSIBCRotMatd &	in_mat2
	)

Computes the matrix multiplication of in_mat1 and the transpose of in_mat2 (in_mat1 * in_mat2^T) and stores the result in this matrix.

Parameters:

	in_mat1	The first matrix in the multiplication (on the left).
	in_mat2	The second matrix in the multiplication (on the right), to be transposed before multiplication.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

CSIBCRotMatd::Mul

CSIBCRotMatd::MulTransByReg

CSIBCRotMatd::Div

CSIBCRotMatd& Negate ( const CSIBCRotMatd & in_mat )

Sets this matrix to the negative of in_mat. The 'negative' of a matrix is produced by multiplying each element of the matrix by -1.

Parameters:

in_mat

Matrix containing the data to set this matrix to the negative of.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:: CSIBCRotMatd::Negate()

CSIBCRotMatd& Negate ( )

Sets this matrix to its negative. The 'negative' of a matrix is produced by multiplying each element of the matrix by -1.

Returns:: CSIBCRotMatd& Reference to this matrix

See also:: CSIBCRotMatd::Negate( const CSIBCRotMatd& )

Reimplemented from CSIBCMatrix33d.

double GetDet ( void ) const

Computes the determinant of this matrix.

Returns:: double The determinant of this matrix.

See also:: CSIBCRotMatd::GetTrace
CSIBCRotMatd::IsSingular

Reimplemented from CSIBCMatrix33d.

double GetTrace ( void ) const

Computes the trace of this matrix. A trace is the sum of all the diagonal elements of a matrix.

Returns:: double The trace of this matrix.

See also:: CSIBCRotMatd::GetDet

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& Transpose ( const CSIBCRotMatd & in_mat )

Sets this matrix to be the transpose of in_mat.

Parameters:

in_mat

Matrix containing the transpose of the desired matrix.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:

CSIBCRotMatd::Transpose()

CSIBCRotMatd::TransposeInverse

CSIBCRotMatd::IsSymmetric

CSIBCRotMatd& Transpose ( void )

Sets this matrix to its transpose.

Returns:: CSIBCRotMatd& Reference to this matrix.

See also:: CSIBCRotMatd::Transpose( const CSIBCRotMatd& )
CSIBCRotMatd::TransposeInverse

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd& Invert ( const CSIBCRotMatd & in_mat )

Sets this matrix to be the inverse of in_mat.

Parameters:

in_mat

Matrix containing the inverse of the desired matrix.

Returns:: bool true if in_mat could be inverted and the assignment was successful, false otherwise.

See also:: CSIBCRotMatd::Invert()
CSIBCRotMatd::TransposeInverse

CSIBCRotMatd& Invert ( void )

Sets this matrix to its inverse.

Returns:: bool true if this matrix could be inverted and the assignment was successful, false otherwise.

See also:: CSIBCRotMatd::Invert( const CSIBCRotMatd& )
CSIBCRotMatd::TransposeInverse

Reimplemented from CSIBCMatrix33d.

Friends And Related Function Documentation

bool AreAlmostEqual	(	const CSIBCRotMatd &	in_mat1,
		const CSIBCRotMatd &	in_mat2,
		const double	in_dEpsilon = `PICO_EPS`
	)			`[friend]`

Determines whether all corresponding elements of the matricies in_mat1 and in_mat2 are equal. Since this method uses floating-point comparison, a threshhold value of in_dEpsilon is used for equality comparison.

Parameters:

	in_mat1	First matrix for equality comparison.
	in_mat2	Second matrix for equality comparison.
	in_dEpsilon	Floating-point comparison error range. Defaults to PICO_EPS.

Returns:: bool true if the matricies are equal, false otherwise.

See also:: CSIBCMatrix33d::operator==
CSIBCMatrix33d::operator!=

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

SIBCRotMatd.h

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CSIBCRotMatd Class Reference

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation