Matrix4 Class Reference

A 3x3 matrix class. More...

#include <Matrix4.hh>

List of all members.

Public Member Functions
	Matrix4 ()
	Constructor.
	Matrix4 (const Matrix4 &m)
	Copy constructor.
	Matrix4 (double _v00, double _v01, double _v02, double _v03, double _v10, double _v11, double _v12, double _v13, double _v20, double _v21, double _v22, double _v23, double _v30, double _v31, double _v32, double _v33)
	Constructor.
virtual	~Matrix4 ()
	Destructor.
void	Set (double _v00, double _v01, double _v02, double _v03, double _v10, double _v11, double _v12, double _v13, double _v20, double _v21, double _v22, double _v23, double _v30, double _v31, double _v32, double _v33)
	Set.
void	SetTranslate (const Vector3 &_t)
	Set the translational values [ (0,3) (1,3) (2,3) ].
void	SetScale (const Vector3 &_s)
	Set the scale.
bool	IsAffine () const
	Return true if the matrix is affine.
Vector3	TransformAffine (const Vector3 &_v) const
	Perform an affine transformation.
const Matrix4 &	operator= (const Matrix4 &_mat)
	Equal operator.
const Matrix4 &	operator= (const Matrix3 &_mat)
	Equal operator for 3x3 matrix.
Matrix4	operator* (const Matrix4 &_mat) const
	Multiplication operator.
Matrix4	operator* (const Matrix3 &_mat) const
	Multiplication operator.
Vector3	operator* (const Vector3 &_vec) const
	Multiplication operator.
double *	operator[] (size_t _row)
const double *	operator[] (size_t _row) const
Static Public Attributes
static const Matrix4	IDENTITY
	Identity matrix.
static const Matrix4	ZERO
	Zero matrix.
Protected Attributes
double	m [4][4]
	The 4x4 matrix.
Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::math::Matrix4 &_m)
	Output operator.

---

Detailed Description

A 3x3 matrix class.

---

Constructor & Destructor Documentation

Matrix4

(

const Matrix4 &

m

)

Copy constructor.

Parameters:

_m	Matrix to copy

Matrix4	(	double	_v00,
		double	_v01,
		double	_v02,
		double	_v03,
		double	_v10,
		double	_v11,
		double	_v12,
		double	_v13,
		double	_v20,
		double	_v21,
		double	_v22,
		double	_v23,
		double	_v30,
		double	_v31,
		double	_v32,
		double	_v33
	)

Constructor.

Parameters:

_v00	Row 0, Col 0 value
_v01	Row 0, Col 1 value
_v02	Row 0, Col 2 value
_v03	Row 0, Col 3 value
_v10	Row 1, Col 0 value
_v11	Row 1, Col 1 value
_v12	Row 1, Col 2 value
_v13	Row 1, Col 3 value
_v20	Row 2, Col 0 value
_v21	Row 2, Col 1 value
_v22	Row 2, Col 2 value
_v23	Row 2, Col 3 value
_v30	Row 3, Col 0 value
_v31	Row 3, Col 1 value
_v32	Row 3, Col 2 value
_v33	Row 3, Col 3 value

---

Member Function Documentation

bool IsAffine

(

)

const

Return true if the matrix is affine.

Returns:

True if the matrix is affine

Matrix4 operator*

(

const Matrix4 &

_mat

)

const

Multiplication operator.

Parameters:

_mat	Incoming matrix

Returns:

This matrix * _mat

Matrix4 operator*

(

const Matrix3 &

_mat

)

const

Multiplication operator.

Parameters:

_mat	Incoming matrix

Returns:

This matrix * _mat

Vector3 operator*

(

const Vector3 &

_vec

)

const

Multiplication operator.

Parameters:

_vec

Vector3

Returns:

Resulting vector from multiplication

const Matrix4& operator=

(

const Matrix4 &

_mat

)

Equal operator.

this = _mat

Parameters:

_mat	Incoming matrix

Returns:

The resulting matrix

const Matrix4& operator=

(

const Matrix3 &

_mat

)

Equal operator for 3x3 matrix.

Parameters:

_mat	Incoming matrix

Returns:

The resulting matrix

void Set	(	double	_v00,
		double	_v01,
		double	_v02,
		double	_v03,
		double	_v10,
		double	_v11,
		double	_v12,
		double	_v13,
		double	_v20,
		double	_v21,
		double	_v22,
		double	_v23,
		double	_v30,
		double	_v31,
		double	_v32,
		double	_v33
	)

Set.

Parameters:

_v00	Row 0, Col 0 value
_v01	Row 0, Col 1 value
_v02	Row 0, Col 2 value
_v03	Row 0, Col 3 value
_v10	Row 1, Col 0 value
_v11	Row 1, Col 1 value
_v12	Row 1, Col 2 value
_v13	Row 1, Col 3 value
_v20	Row 2, Col 0 value
_v21	Row 2, Col 1 value
_v22	Row 2, Col 2 value
_v23	Row 2, Col 3 value
_v30	Row 3, Col 0 value
_v31	Row 3, Col 1 value
_v32	Row 3, Col 2 value
_v33	Row 3, Col 3 value

void SetScale

(

const Vector3 &

_s

)

Set the scale.

Parameters:

_s

scale

void SetTranslate

(

const Vector3 &

_t

)

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

Parameters:

_t	Values to set

Vector3 TransformAffine

(

const Vector3 &

_v

)

const

Perform an affine transformation.

Parameters:

_v	Vector3 value for the transformation

Returns:

The result of the transformation

---

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	_out,
		const gazebo::math::Matrix4 &	_m
	)		[friend]

Output operator.

Parameters:

_out	Output stream
_m	Matrix to output

---

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

• Matrix4.hh