cMatrix3d Struct Reference
[Math]

cMatrix3d represents a 3x3 matrix. Each cell of the matrix is composed of a double. This matrix class also provides as simple set of methods to handle floating point arithmetic operations. More...

#include <CMatrix3d.h>

List of all members.

Public Member Functions

cMatrix3d ()

void set (const double &a_value)

void set (const double &a_m00, const double &a_m01, const double &a_m02, const double &a_m10, const double &a_m11, const double &a_m12, const double &a_m20, const double &a_m21, const double &a_m22)

void setCol (const cVector3d &a_vectCol0, const cVector3d &a_vectCol1, const cVector3d &a_vectCol2)

void setCol0 (const cVector3d &a_vectCol)

void setCol1 (const cVector3d &a_vectCol)

void setCol2 (const cVector3d &a_vectCol)

cVector3d getCol0 () const

cVector3d getCol1 () const

cVector3d getCol2 () const

cVector3d getRow (const unsigned int &index) const

cVector3d operator[] (const unsigned int &index) const

void operator/= (const double &a_val)

void operator*= (const double &a_val)

cVector3d operator* (const cVector3d &a_val)

cMatrix3d operator* (const cMatrix3d &a_val)

void operator*= (const cMatrix3d &a_val)

void operator+= (const cMatrix3d &a_input)

void operator-= (const cMatrix3d &a_input)

void copyto (cMatrix3d &a_destination) const

void copyfrom (const cMatrix3d &a_source)

void identity ()

void mul (const cMatrix3d &a_matrix)

void mulr (const cMatrix3d &a_matrix, cMatrix3d &a_result) const

void mul (cVector3d &a_vector) const

void mulr (const cVector3d &a_vector, cVector3d &a_result) const

double det () const

void trans ()

void transr (cMatrix3d &a_result) const

bool invert ()

cMatrix3d inv (bool *a_result=0) const

bool invertr (cMatrix3d &a_result) const

bool set (const cVector3d &a_axis, const double &a_angleRad)

bool rotate (const cVector3d &a_axis, const double &a_angleRad)

bool rotater (const cVector3d &a_axis, const double &a_angleRad, cMatrix3d &a_result) const

void str (string &a_string, const unsigned int a_precision=2) const

string str (const unsigned int a_precision=2) const

void print (const unsigned int a_precision=2) const

bool equals (cMatrix3d &a_matrix) const

bool toAngleAxis (double &a_angle, cVector3d &a_axis)

Public Attributes

double m [3][3]

Array of doubles describing the matrix.

Detailed Description

cMatrix3d represents a 3x3 matrix. Each cell of the matrix is composed of a double. This matrix class also provides as simple set of methods to handle floating point arithmetic operations.

Constructor & Destructor Documentation

cMatrix3d::cMatrix3d ( ) [inline]

Constructor of cMatrix3d.

Member Function Documentation

void cMatrix3d::copyfrom ( const cMatrix3d & a_source ) [inline]

Copy values from an external matrix passed as parameter to current matrix.

Parameters:

a_source

Source matrix.

void cMatrix3d::copyto ( cMatrix3d & a_destination ) const [inline]

Copy current matrix values to an external matrix passed as parameter.

Parameters:

a_destination

Destination matrix.

double cMatrix3d::det ( ) const [inline]

Compute the determinant of current matrix.

Returns:: Returns determinant of current matrix.

bool cMatrix3d::equals ( cMatrix3d & a_matrix ) const [inline]

Compare two matrices. Return true if both matrices are equal, otherwise return false.

Parameters:

a_matrix

Matrix to compare with.

Returns:: Returns true if matrices are equal, otherwise false.

cVector3d cMatrix3d::getCol0 ( ) const [inline]

Read column vector 0 of matrix.

Returns:: Return vector 0 of current matrix.

cVector3d cMatrix3d::getCol1 ( ) const [inline]

Read column vector 1 of matrix.

Returns:: Return vector 1 of current matrix.

cVector3d cMatrix3d::getCol2 ( ) const [inline]

Read column vector 2 of matrix.

Returns:: Return vector 2 of current matrix.

cVector3d cMatrix3d::getRow ( const unsigned int & index ) const [inline]

Read a row of this matrix.

Returns:: Return a row of this matrix... not a valid l-value; this does not return a reference into this matrix.

void cMatrix3d::identity ( ) [inline]

Set the identity matrix.

cMatrix3d cMatrix3d::inv ( bool * a_result = 0 ) const [inline]

Compute the inverse of current matrix.
If the operation succeeds, result is returned.

Parameters:

a_result

(optional) return true if the operation succeeds otherwise false.

Returns:: Inverted matrix.

bool cMatrix3d::invert ( ) [inline]

Compute the inverse of current matrix.
If the operation succeeds, result is stored in current matrix.

Returns:: Returns true if matrix was inverted successfully, otherwise return false.

bool cMatrix3d::invertr ( cMatrix3d & a_result ) const [inline]

Compute the inverse of current matrix. If the operation succeeds, result is stored in result matrix passed as parameter.

Parameters:

a_result

Result is stored here.

Returns:: Returns true if matrix was inverted successfully, otherwise return false.

void cMatrix3d::mul ( cVector3d & a_vector ) const [inline]

Multiply current matrix with an external vector passed as parameter.
vector = M * vector.
Result is stored in same vector.

Parameters:

a_vector

Vector with which multiplication is performed.
Result is stored is same vector.

void cMatrix3d::mul ( const cMatrix3d & a_matrix ) [inline]

Multiply current matrix with an external matrix. M = M * a_matrix. Result is stored in current matrix.

Parameters:

a_matrix

Matrix with which multiplication is performed.

void cMatrix3d::mulr	(	const cVector3d &	a_vector,
		cVector3d &	a_result
	)			const `[inline]`

Multiply current matrix with a vector.
result = M * vector.
Result is stored in result vector result. `

Parameters:

	a_vector	Vector with which multiplication is performed.
	a_result	Result of multiplication is stored here.

void cMatrix3d::mulr	(	const cMatrix3d &	a_matrix,
		cMatrix3d &	a_result
	)			const `[inline]`

Multiply current matrix with an external matrix.
result = M * matrix.
Result is stored in result matrix.

Parameters:

	a_matrix	Matrix with which multiplication is performed.
	a_result	Result matrix.

cMatrix3d cMatrix3d::operator* ( const cMatrix3d & a_val ) [inline]

An overloaded * operator for matrix/matrix multiplication.

cVector3d cMatrix3d::operator* ( const cVector3d & a_val ) [inline]

An overloaded * operator for matrix/vector multiplication.

void cMatrix3d::operator*= ( const cMatrix3d & a_val ) [inline]

An overloaded *= operator for matrix/matrix multiplication.

void cMatrix3d::operator*= ( const double & a_val ) [inline]

An overloaded *= operator for matrix/scalar multiplication.

void cMatrix3d::operator+= ( const cMatrix3d & a_input ) [inline]

An overloaded += operator for matrix/matrix addition.

void cMatrix3d::operator-= ( const cMatrix3d & a_input ) [inline]

An overloaded -= operator for matrix/matrix subtraction.

void cMatrix3d::operator/= ( const double & a_val ) [inline]

An overloaded /= operator for matrix/scalar division.

cVector3d cMatrix3d::operator[] ( const unsigned int & index ) const [inline]

This is a slightly confusing operator, because the operation:
my_matrix[1][2] = 4.0;
Warning:
...compiles, but does not modify the matrix. Be careful!

void cMatrix3d::print ( const unsigned int a_precision = 2 ) const [inline]

Print the current matrix using the CHAI_DEBUG_PRINT macro.

Parameters:

a_precision

Number of digits.

bool cMatrix3d::rotate	(	const cVector3d &	a_axis,
		const double &	a_angleRad
	)			`[inline]`

Rotate current matrix around an axis an angle defined as parameters.

Parameters:

	a_axis	Axis of rotation.
	a_angleRad	Rotation angle in Radian.

Returns:: Returns true if operation succeeded. Otherwise return false.

bool cMatrix3d::rotater	(	const cVector3d &	a_axis,
		const double &	a_angleRad,
		cMatrix3d &	a_result
	)			const `[inline]`

Rotate current matrix around an axis an angle defined as parameters.
Result is stored in result matrix.

Parameters:

	a_axis	Axis of rotation.
	a_angleRad	Rotation angle in Radian.
	a_result	Result is stored here.

Returns:: Returns true if operation succeeded. Otherwise return false.

bool cMatrix3d::set	(	const cVector3d &	a_axis,
		const double &	a_angleRad
	)			`[inline]`

Build a rotation matrix defined by a rotation axis and rotation angle given in radian. These values are passed as parameters.
Result is stored in current matrix.

Parameters:

	a_axis	Axis of rotation.
	a_angleRad	Rotation angle in Radian.

Returns:: Returns true if operation succeeded. Otherwise return false.

void cMatrix3d::set	(	const double &	a_m00,
		const double &	a_m01,
		const double &	a_m02,
		const double &	a_m10,
		const double &	a_m11,
		const double &	a_m12,
		const double &	a_m20,
		const double &	a_m21,
		const double &	a_m22
	)			`[inline]`

Initialize a matrix bypassing as parameter values for each cell.

Parameters:

	a_m00	Matrix Component [0,0]
	a_m01	Matrix Component [0,1]
	a_m02	Matrix Component [0,2]
	a_m10	Matrix Component [1,0]
	a_m11	Matrix Component [1,1]
	a_m12	Matrix Component [1,2]
	a_m20	Matrix Component [2,0]
	a_m21	Matrix Component [2,1]
	a_m22	Matrix Component [2,2]

void cMatrix3d::set ( const double & a_value ) [inline]

Initialize a matrix with a scalar which is copied to each cell of the matrix.

Parameters:

a_value

Value.

void cMatrix3d::setCol	(	const cVector3d &	a_vectCol0,
		const cVector3d &	a_vectCol1,
		const cVector3d &	a_vectCol2
	)			`[inline]`

Initialize a matrix by passing as parameter 3 column vectors.
M = (V0,V1,V2).

Parameters:

	a_vectCol0	Vector Column 0.
	a_vectCol1	Vector Column 1.
	a_vectCol2	Vector Column 2.

void cMatrix3d::setCol0 ( const cVector3d & a_vectCol ) [inline]

Set column 0 of matrix with vector passed as parameter.

Parameters:

a_vectCol

Vector Column 0.

void cMatrix3d::setCol1 ( const cVector3d & a_vectCol ) [inline]

Set column 1 of matrix with vector passed as parameter.

Parameters:

a_vectCol

Vector Column 1.

void cMatrix3d::setCol2 ( const cVector3d & a_vectCol ) [inline]

Set column 2 of matrix with vector passed as parameter.

Parameters:

a_vectCol

Vector Column 2.

string cMatrix3d::str ( const unsigned int a_precision = 2 ) const [inline]

Convert current matrix into a string, which is returned on the stack.

Parameters:

a_precision

Number of digits.

void cMatrix3d::str	(	string &	a_string,
		const unsigned int	a_precision = `2`
	)			const `[inline]`

Convert current matrix into a string.

Parameters:

	a_string	String where conversion is stored
	a_precision	Number of digits.

bool cMatrix3d::toAngleAxis	(	double &	a_angle,
		cVector3d &	a_axis
	)			`[inline]`

Convert the rotation to an angle axis

Parameters:

	a_angle	Angle result
	a_axis	Axis result

Returns:: Returns true if operation succeeded. Otherwise return false.

void cMatrix3d::trans ( ) [inline]

Compute the transpose of current matrix.
Result is stored in current matrix.

void cMatrix3d::transr ( cMatrix3d & a_result ) const [inline]

Compute the transpose of current matrix.
Result is stored in result matrix.

Parameters:

a_result

Result is stored here.

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

D:/CHAI3D/build-2-0-0/2.0.0/win32/src/math/CMatrix3d.h


Public Member Functions
	cMatrix3d ()
void	set (const double &a_value)
void	set (const double &a_m00, const double &a_m01, const double &a_m02, const double &a_m10, const double &a_m11, const double &a_m12, const double &a_m20, const double &a_m21, const double &a_m22)
void	setCol (const cVector3d &a_vectCol0, const cVector3d &a_vectCol1, const cVector3d &a_vectCol2)
void	setCol0 (const cVector3d &a_vectCol)
void	setCol1 (const cVector3d &a_vectCol)
void	setCol2 (const cVector3d &a_vectCol)
cVector3d	getCol0 () const
cVector3d	getCol1 () const
cVector3d	getCol2 () const
cVector3d	getRow (const unsigned int &index) const
cVector3d	operator[] (const unsigned int &index) const
void	operator/= (const double &a_val)
void	operator*= (const double &a_val)
cVector3d	operator* (const cVector3d &a_val)
cMatrix3d	operator* (const cMatrix3d &a_val)
void	operator*= (const cMatrix3d &a_val)
void	operator+= (const cMatrix3d &a_input)
void	operator-= (const cMatrix3d &a_input)
void	copyto (cMatrix3d &a_destination) const
void	copyfrom (const cMatrix3d &a_source)
void	identity ()
void	mul (const cMatrix3d &a_matrix)
void	mulr (const cMatrix3d &a_matrix, cMatrix3d &a_result) const
void	mul (cVector3d &a_vector) const
void	mulr (const cVector3d &a_vector, cVector3d &a_result) const
double	det () const
void	trans ()
void	transr (cMatrix3d &a_result) const
bool	invert ()
cMatrix3d	inv (bool *a_result=0) const
bool	invertr (cMatrix3d &a_result) const
bool	set (const cVector3d &a_axis, const double &a_angleRad)
bool	rotate (const cVector3d &a_axis, const double &a_angleRad)
bool	rotater (const cVector3d &a_axis, const double &a_angleRad, cMatrix3d &a_result) const
void	str (string &a_string, const unsigned int a_precision=2) const
string	str (const unsigned int a_precision=2) const
void	print (const unsigned int a_precision=2) const
bool	equals (cMatrix3d &a_matrix) const
bool	toAngleAxis (double &a_angle, cVector3d &a_axis)
Public Attributes
double	m [3][3]
	Array of doubles describing the matrix.

cMatrix3d Struct Reference [Math]

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

cMatrix3d Struct Reference
[Math]