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mini3d::matrix3d Class Reference
[Core]

matrix3d - A 3x3 double matrix class, derived from matrix<double, 3, 3> More...

Inheritance diagram for mini3d::matrix3d:

List of all members.

Public Member Functions
	matrix3d ()
	A default constructor.
	matrix3d (const matrix<double, 3, 3>& src)
	A copy constructor from base class.
	matrix3d (const matrix3d& src)
	A copy constructor.
	matrix3d (double m[9])
	A constructor.
	matrix3d (double m[3][3])
	A constructor.
	matrix3d (double m0, double m1, double m2, double m3, double m4, double m5, double m6, double m7, double m8)
	A constructor.
virtual	~matrix3d ()
	A destructor.
matrix3d	operator* (const matrix3d& m) const
	Multiply the matrix with a matrix and return the new matrix.
vector3d	operator* (const vector3d& v) const
	Multiply the matrix with a vector and return the new vector.
matrix3d&	operator= (const matrix<double, 3, 3>& src)
	Copy from the base class.
void	makeRotate (quat4d q)
	Make a transformation for rotation.
void	makeRotate (double rad, const vector3d& axis)
	Make a transformation for rotation.
void	getRotate (quat4d& q) const
	Get the quaternion.
void	getRotateYZX (vector3d& e) const
	Get the Euler angles in YZX order (body frame).
void	getRotateXYZ (vector3d& e) const
	Get the Euler angles in XYZ order (body frame).
void	getRotateXYZf (vector3d& e) const
	Get the Euler angles in XYZ order (fixed frame).
bool	invert ()
	Invert itself.
bool	inverse (matrix3d& inv) const
	Return the inverse of this matrix.
matrix3d	transpose () const
	Get a transpose of this matrix.
Static Public Attributes
static const matrix3d	_identity_matrix
static const matrix3d	_zero_matrix

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Detailed Description

matrix3d - A 3x3 double matrix class, derived from matrix<double, 3, 3>

The matrix is row major

[ m0, m1, m2 ]
[ m3, m4, m5 ]
[ m6, m7, m8 ]

{ m0, m1, m2, m3, m4 , m5, m6, m7, m8 }

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Constructor & Destructor Documentation

mini3d::matrix3d::matrix3d (  )

A default constructor. The matrix will set as a zero matrix.

mini3d::matrix3d::matrix3d ( const matrix<double, 3, 3>&  src  )

A copy constructor from base class. Parameters: src  the source matrix to copy from.

mini3d::matrix3d::matrix3d ( const matrix3d&  src  )

A copy constructor. Parameters: src  the source matrix to copy from.

mini3d::matrix3d::matrix3d ( double  m[9]  )

A constructor. The matrix will set as [m[0] m[1] m[2] m[3] m[4] m[5] m[6] m[7] m[8] ]. Parameters: m  a floating point array

mini3d::matrix3d::matrix3d ( double  m[3][3]  )

A constructor. The matrix will set as [m[0][0] m[0][1] m[0][2] m[1][0] m[1][1] m[1][2] m[2][0] m[2][1] m[2][2] ]. Parameters: m  a floating point array

mini3d::matrix3d::matrix3d ( double  m0, double  m1, double  m2, double  m3, double  m4, double  m5, double  m6, double  m7, double  m8 )

A constructor. The matrix will set as [m[0] m[1] m[2] m[3] m[4] m[5] m[6] m[7] m[8] ].

virtual mini3d::matrix3d::~matrix3d (  )  [virtual]

A destructor.

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Member Function Documentation

void mini3d::matrix3d::getRotate ( quat4d&  q  )  const

Get the quaternion. Parameters: q  the quaternion

void mini3d::matrix3d::getRotateXYZ ( vector3d&  e  )  const

Get the Euler angles in XYZ order (body frame). Parameters: e  the Euler angles

void mini3d::matrix3d::getRotateXYZf ( vector3d&  e  )  const

Get the Euler angles in XYZ order (fixed frame). Parameters: e  the Euler angles

void mini3d::matrix3d::getRotateYZX ( vector3d&  e  )  const

Get the Euler angles in YZX order (body frame). Parameters: e  the Euler angles

bool mini3d::matrix3d::inverse ( matrix3d&  inv  )  const

Return the inverse of this matrix. Parameters: inv  the inverse of this matrix. Returns: true if success, false otherwise

bool mini3d::matrix3d::invert (  )

Invert itself. Returns: true success, false if singular

void mini3d::matrix3d::makeRotate ( double  rad, const vector3d&  axis )

Make a transformation for rotation. Parameters: rad  the opAngle of rotation axis  the axis of rotation

void mini3d::matrix3d::makeRotate ( quat4d  q  )

Make a transformation for rotation. Parameters: q  the quaternion which represent a rotation

vector3d mini3d::matrix3d::operator* ( const vector3d&  v  )  const

Multiply the matrix with a vector and return the new vector. result = (*this) * v; Parameters: v  the vector to multiply with. Returns: a new vector.

matrix3d mini3d::matrix3d::operator* ( const matrix3d&  m  )  const

Multiply the matrix with a matrix and return the new matrix. result = (*this) * m; Parameters: m  the matrix to multiply with. Returns: a new matrix.

matrix3d& mini3d::matrix3d::operator= ( const matrix<double, 3, 3>&  src  )

Copy from the base class. Parameters: src  the matrix to copy from Returns: itself

matrix3d mini3d::matrix3d::transpose (  )  const [inline]

Get a transpose of this matrix. Returns: transpose of this matrix Reimplemented from mini3d::matrix<double, 3, 3>.

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Member Data Documentation

const matrix3d mini3d::matrix3d::_identity_matrix [static]

const matrix3d mini3d::matrix3d::_zero_matrix [static]

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

• matrix3d.h

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