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CSIBCRotMatd Class Reference

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

#include <SIBCRotMatd.h>

Inheritance diagram for CSIBCRotMatd::

CSIBCMatrix33d List of all members.

Public Methods

Friends


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::CSIBCRotMatd void   
 

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

See also:
CSIBCRotMatd::SetIdentity

CSIBCRotMatd::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::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 CSIBCRotMatd::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.

double CSIBCRotMatd::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 CSIBCRotMatd::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 & 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.

CSIBCRotMatd & 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 & 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 & 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 & 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 & 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 & CSIBCRotMatd::Negate void   
 

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.

CSIBCRotMatd & 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()

bool CSIBCRotMatd::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.

bool CSIBCRotMatd::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.

CSIBCRotMatd & 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. \reurn CSIBCRotMatd& Reference to this matrix.

CSIBCRotMatd & 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 , CSIBCRotMatd::SetRow , CSIBCRotMatd::SetCol , CSIBCRotMatd::Get

CSIBCRotMatd & 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:
CSIBCRotMatd::Set , CSIBCRotMatd::SetRow , CSIBCRotMatd::SetCol , CSIBCRotMatd::Get

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd & 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:
CSIBCRotMatd::Set , CSIBCRotMatd::SetRow , CSIBCRotMatd::SetCol , CSIBCRotMatd::Get

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd & 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:
CSIBCRotMatd::Set , CSIBCRotMatd::SetRow , CSIBCRotMatd::SetCol , CSIBCRotMatd::Get

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd & 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:
CSIBCRotMatd::Set , CSIBCRotMatd::SetRow , CSIBCRotMatd::SetCol , CSIBCRotMatd::Get

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd & 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:
CSIBCRotMatd::Set , CSIBCRotMatd::SetRow , CSIBCRotMatd::SetCol , CSIBCRotMatd::Get

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd & 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.

CSIBCRotMatd & 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 & 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:
CSIBCRotMatd::Set , CSIBCRotMatd::SetRow , CSIBCRotMatd::SetCol , CSIBCRotMatd::Get

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd & 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:
CSIBCRotMatd::Set , CSIBCRotMatd::SetRow , CSIBCRotMatd::SetCol , CSIBCRotMatd::Get

Reimplemented from CSIBCMatrix33d.

CSIBCRotMatd & 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 & 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


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 files: © Copyright 2001-2003 Avid Technology, Inc. All rights reserved.

© Copyright 2001-2003 Avid Technology, Inc. All rights reserved.