fcl::Matrix3fX< T > Class Template Reference

Matrix2 class wrapper. the core data is in the template parameter class. More...

#include <hpp/fcl/math/matrix_3f.h>

Collaboration diagram for fcl::Matrix3fX< T >:

Public Types
typedef T::meta_type	U
typedef T::vector_type	S

Public Member Functions
	Matrix3fX ()
	Matrix3fX (U xx, U xy, U xz, U yx, U yy, U yz, U zx, U zy, U zz)
	Matrix3fX (const Vec3fX< S > &v1, const Vec3fX< S > &v2, const Vec3fX< S > &v3)
	Matrix3fX (const Matrix3fX< T > &other)
	Matrix3fX (const T &data_)
Vec3fX< S >	getColumn (size_t i) const
Vec3fX< S >	getRow (size_t i) const
U	operator() (size_t i, size_t j) const
U &	operator() (size_t i, size_t j)
Vec3fX< S >	operator* (const Vec3fX< S > &v) const
Matrix3fX< T >	operator* (const Matrix3fX< T > &m) const
Matrix3fX< T >	operator+ (const Matrix3fX< T > &other) const
Matrix3fX< T >	operator- (const Matrix3fX< T > &other) const
Matrix3fX< T >	operator+ (U c) const
Matrix3fX< T >	operator- (U c) const
Matrix3fX< T >	operator* (U c) const
Matrix3fX< T >	operator/ (U c) const
Matrix3fX< T > &	operator*= (const Matrix3fX< T > &other)
Matrix3fX< T > &	operator+= (const Matrix3fX< T > &other)
Matrix3fX< T > &	operator-= (const Matrix3fX< T > &other)
Matrix3fX< T > &	operator+= (U c)
Matrix3fX< T > &	operator-= (U c)
Matrix3fX< T > &	operator*= (U c)
Matrix3fX< T > &	operator/= (U c)
void	setIdentity ()
bool	isIdentity () const
void	setZero ()
void	setEulerZYX (FCL_REAL eulerX, FCL_REAL eulerY, FCL_REAL eulerZ)
	Set the matrix from euler angles YPR around ZYX axes. More...
void	setEulerYPR (FCL_REAL yaw, FCL_REAL pitch, FCL_REAL roll)
	Set the matrix from euler angles using YPR around YXZ respectively. More...
U	determinant () const
Matrix3fX< T > &	transpose ()
Matrix3fX< T > &	inverse ()
Matrix3fX< T > &	abs ()
Matrix3fX< T >	transposeTimes (const Matrix3fX< T > &other) const
Matrix3fX< T >	timesTranspose (const Matrix3fX< T > &other) const
Vec3fX< S >	transposeTimes (const Vec3fX< S > &v) const
Matrix3fX< T >	tensorTransform (const Matrix3fX< T > &m) const
U	transposeDotX (const Vec3fX< S > &v) const
U	transposeDotY (const Vec3fX< S > &v) const
U	transposeDotZ (const Vec3fX< S > &v) const
U	transposeDot (size_t i, const Vec3fX< S > &v) const
U	dotX (const Vec3fX< S > &v) const
U	dotY (const Vec3fX< S > &v) const
U	dotZ (const Vec3fX< S > &v) const
U	dot (size_t i, const Vec3fX< S > &v) const
void	setValue (U xx, U xy, U xz, U yx, U yy, U yz, U zx, U zy, U zz)
void	setValue (U x)

Static Public Member Functions
static const Matrix3fX< T > &	getIdentity ()

Public Attributes
T	data

Detailed Description

template<typename T>
class fcl::Matrix3fX< T >

Matrix2 class wrapper. the core data is in the template parameter class.

Member Typedef Documentation

template<typename T>

typedef T::vector_type fcl::Matrix3fX< T >::S

template<typename T>

typedef T::meta_type fcl::Matrix3fX< T >::U

Constructor & Destructor Documentation

template<typename T>

fcl::Matrix3fX< T >::Matrix3fX ( )

inline

template<typename T>

fcl::Matrix3fX< T >::Matrix3fX ( U  xx, U  xy, U  xz, U  yx, U  yy, U  yz, U  zx, U  zy, U  zz  )

inline

template<typename T>

fcl::Matrix3fX< T >::Matrix3fX ( const Vec3fX< S > &  v1, const Vec3fX< S > &  v2, const Vec3fX< S > &  v3  )

inline

template<typename T>

fcl::Matrix3fX< T >::Matrix3fX ( const Matrix3fX< T > &  other )

inline

template<typename T>

fcl::Matrix3fX< T >::Matrix3fX ( const T &  data_ )

inline

Member Function Documentation

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::abs ( )

inline

Referenced by fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::abs().

template<typename T>

U fcl::Matrix3fX< T >::determinant ( ) const

inline

template<typename T>

U fcl::Matrix3fX< T >::dot ( size_t  i, const Vec3fX< S > &  v  ) const

inline

template<typename T>

U fcl::Matrix3fX< T >::dotX ( const Vec3fX< S > &  v ) const

inline

template<typename T>

U fcl::Matrix3fX< T >::dotY ( const Vec3fX< S > &  v ) const

inline

template<typename T>

U fcl::Matrix3fX< T >::dotZ ( const Vec3fX< S > &  v ) const

inline

template<typename T>

Vec3fX<S> fcl::Matrix3fX< T >::getColumn ( size_t  i ) const

inline

template<typename T>

static const Matrix3fX<T>& fcl::Matrix3fX< T >::getIdentity ( )

inlinestatic

template<typename T>

Vec3fX<S> fcl::Matrix3fX< T >::getRow ( size_t  i ) const

inline

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::inverse ( )

inline

Referenced by fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::inverse().

template<typename T>

bool fcl::Matrix3fX< T >::isIdentity ( ) const

inline

template<typename T>

U fcl::Matrix3fX< T >::operator() ( size_t  i, size_t  j  ) const

inline

template<typename T>

U& fcl::Matrix3fX< T >::operator() ( size_t  i, size_t  j  )

inline

template<typename T>

Vec3fX<S> fcl::Matrix3fX< T >::operator* ( const Vec3fX< S > &  v ) const

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::operator* ( const Matrix3fX< T > &  m ) const

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::operator* ( U  c ) const

inline

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::operator*= ( const Matrix3fX< T > &  other )

inline

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::operator*= ( U  c )

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::operator+ ( const Matrix3fX< T > &  other ) const

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::operator+ ( U  c ) const

inline

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::operator+= ( const Matrix3fX< T > &  other )

inline

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::operator+= ( U  c )

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::operator- ( const Matrix3fX< T > &  other ) const

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::operator- ( U  c ) const

inline

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::operator-= ( const Matrix3fX< T > &  other )

inline

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::operator-= ( U  c )

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::operator/ ( U  c ) const

inline

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::operator/= ( U  c )

inline

template<typename T>

void fcl::Matrix3fX< T >::setEulerYPR ( FCL_REAL  yaw, FCL_REAL  pitch, FCL_REAL  roll  )

inline

Set the matrix from euler angles using YPR around YXZ respectively.

Parameters

yaw	Yaw about Y axis
pitch	Pitch about X axis
roll	Roll about Z axis

template<typename T>

void fcl::Matrix3fX< T >::setEulerZYX ( FCL_REAL  eulerX, FCL_REAL  eulerY, FCL_REAL  eulerZ  )

inline

Set the matrix from euler angles YPR around ZYX axes.

Parameters

eulerX	Roll about X axis
eulerY	Pitch around Y axis
eulerZ	Yaw aboud Z axis

These angles are used to produce a rotation matrix. The euler angles are applied in ZYX order. I.e a vector is first rotated about X then Y and then Z

Referenced by fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::setEulerYPR().

template<typename T>

void fcl::Matrix3fX< T >::setIdentity ( )

inline

Referenced by fcl::Transform3f::setIdentity(), and fcl::Transform3f::Transform3f().

template<typename T>

void fcl::Matrix3fX< T >::setValue ( U  xx, U  xy, U  xz, U  yx, U  yy, U  yz, U  zx, U  zy, U  zz  )

inline

Referenced by fcl::hat(), and fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::setEulerZYX().

template<typename T>

void fcl::Matrix3fX< T >::setValue ( U  x )

inline

template<typename T>

void fcl::Matrix3fX< T >::setZero ( )

inline

Referenced by fcl::Variance3f::sqrt().

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::tensorTransform ( const Matrix3fX< T > &  m ) const

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::timesTranspose ( const Matrix3fX< T > &  other ) const

inline

Referenced by fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::tensorTransform().

template<typename T>

Matrix3fX<T>& fcl::Matrix3fX< T >::transpose ( )

inline

Referenced by fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::transpose().

template<typename T>

U fcl::Matrix3fX< T >::transposeDot ( size_t  i, const Vec3fX< S > &  v  ) const

inline

template<typename T>

U fcl::Matrix3fX< T >::transposeDotX ( const Vec3fX< S > &  v ) const

inline

template<typename T>

U fcl::Matrix3fX< T >::transposeDotY ( const Vec3fX< S > &  v ) const

inline

template<typename T>

U fcl::Matrix3fX< T >::transposeDotZ ( const Vec3fX< S > &  v ) const

inline

template<typename T>

Matrix3fX<T> fcl::Matrix3fX< T >::transposeTimes ( const Matrix3fX< T > &  other ) const

inline

Referenced by fcl::relativeTransform(), fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

template<typename T>

Vec3fX<S> fcl::Matrix3fX< T >::transposeTimes ( const Vec3fX< S > &  v ) const

inline

Member Data Documentation

template<typename T>

T fcl::Matrix3fX< T >::data

Referenced by fcl::abs(), fcl::inverse(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::isIdentity(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::operator()(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::operator*(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::operator*=(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::operator+(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::operator+=(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::operator-(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::operator-=(), fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::timesTranspose(), fcl::transpose(), and fcl::Matrix3fX< details::Matrix3Data< FCL_REAL > >::transposeTimes().