Physsim::Matrix3 Class Reference

A 3x3 matrix that may be used for orientation, inertia tensors, etc. More...

#include <Matrix3.h>

Inheritance diagram for Physsim::Matrix3:

List of all members.

Public Member Functions
	Matrix3 ()
	Default constructor.
	Matrix3 (const boost::shared_array< Real > array)
	Constructs a matrix from an array.
	Matrix3 (Real m00, Real m01, Real m02, Real m10, Real m11, Real m12, Real m20, Real m21, Real m22)
	Constructs a matrix from 9 values.
	Matrix3 (const Quat *q)
	Sets the orientation of this matrix to that represented by the given quaternion.
	Matrix3 (const Matrix3 &source)
	Copy constructor.
	Matrix3 (const MatrixNN &source)
	Copy constructor.
	Matrix3 (const MatrixN &source)
	Copy constructor.
	Matrix3 (const AAngle *a)
	Sets the orientation fo this matrix to that represented by the given axis-angle parameter.
bool	epsilon_equals (const Matrix3 &m, Real epsilon) const
	Determines whether the rotation matrix represented by this matrix is equal to another (to within numerical tolerance epsilon).
Real	det () const
	Calculates the determinant for a 3x3 matrix.
void	invert ()
	Inverts this matrix.
void	set_rot_X (Real angle)
	Sets this matrix to the rotation matrix of the specified angle around the X axis.
void	set_rot_Y (Real angle)
	Sets this matrix to the rotation matrix of the specified angle around the Y axis.
void	set_rot_Z (Real angle)
	Sets this matrix to the rotation matrix of the specified angle around the Z axis.
void	set (const AAngle *a)
	Sets this rotation matrix from the given axis-angle representation.
void	set (Real scale)
void	set (const Quat *q)
	Sets this rotation matrix from the given quaternion.
void	operator= (const Matrix3 &source)
virtual void	operator= (const MatrixN &source)
	Sets this matrix to that of another.
virtual void	operator= (const MatrixNN &source)
Vector3	operator * (const Vector3 &v) const
	Multiplies this matrix by a 3D vector.
Matrix3	operator * (const Matrix3 &m) const
Matrix3	operator * (Real scalar) const
	Multiplies this matrix by a scalar.
Matrix3	operator/ (Real scalar) const
Static Public Member Functions
static bool	epsilon_equals (const Matrix3 &m1, const Matrix3 &m2, Real epsilon)
	Determines whether the rotation matrix represented by two matrices are equal (to within numerical tolerance epsilon).
static Matrix3	invert (const Matrix3 &m)
	Determines the inverse of the given matrix.
static Matrix3	rot_X (Real angle)
	Returns the rotation matrix of the specified angle around the X axis.
static Matrix3	rot_Y (Real angle)
	Returns the rotation matrix of the specified angle around the Y axis.
static Matrix3	rot_Z (Real angle)
	Returns the rotation matrix of the specified angle around the Z axis.
static Matrix3	skew_symmetric (Real a, Real b, Real c)
	Constructs a skew-symmetric matrix from the given values.
static Matrix3	skew_symmetric (const Vector3 &v)
	Constructs a skew-symmetric matrix from the given values.
static bool	valid_rotation (const Matrix3 &R)
	Checks whether the rotation is valid for a right-handed coordinate system.

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Detailed Description

A 3x3 matrix that may be used for orientation, inertia tensors, etc.

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Constructor & Destructor Documentation

Matrix3::Matrix3

(

const boost::shared_array< Real >

array

)

Constructs a matrix from an array.

Parameters:

array

an array of 9 Real values in row-major format

Matrix3::Matrix3	(	Real	m00,
		Real	m01,
		Real	m02,
		Real	m10,
		Real	m11,
		Real	m12,
		Real	m20,
		Real	m21,
		Real	m22
	)

Constructs a matrix from 9 values.

The resulting matrix will appear as follows:
m00 m01 m02
m10 m11 m12
m20 m21 m22

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Member Function Documentation

void Matrix3::set

(

const AAngle *

a

)

Sets this rotation matrix from the given axis-angle representation.

Note: this method could be faster...

Matrix3 Matrix3::skew_symmetric	(	Real	x,
		Real	y,
		Real	z
	)			[static]

Constructs a skew-symmetric matrix from the given values.

The skew symmetric matrix generated will be: | 0 -z y | | z 0 -x | | -y x 0 |

Matrix3 Matrix3::skew_symmetric

(

const Vector3 &

v

)

[static]

Constructs a skew-symmetric matrix from the given values.

The skew symmetric matrix generated will be: | 0 -v[2] v[1] | | v[2] 0 -v[0] | | -v[1] v[0] 0 |

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

• /home/drumwrig/Physsim/include/Physsim/Matrix3.h
• /home/drumwrig/Physsim/src/Matrix3.cpp

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