chrono::ChMatrix33< Real > Class Template Reference
Description
template<class Real = double>
class chrono::ChMatrix33< Real >
A special type of NxM matrix: the 3x3 matrix that is commonly used to represent coordinate transformations in 3D space. This matrix cannot be resized. The 3x3 matrix can be multiplied/added with other matrix types.
Further info at the Rotation matrices manual page.
#include <ChMatrix33.h>
Inheritance diagram for chrono::ChMatrix33< Real >:
Collaboration diagram for chrono::ChMatrix33< Real >:
Public Member Functions | |
| ChMatrix33 () | |
| Default constructor builds a 3x3 matrix with zeroes. | |
| ChMatrix33 (const ChMatrix33< Real > &msource) | |
| Copy constructor. | |
| template<class RealB > | |
| ChMatrix33 (const ChMatrix< RealB > &msource) | |
| Copy constructor from all types of base matrices (only with same size) | |
| ChMatrix33 (Real val) | |
| Construct a diagonal 3x3 matrix with all diagonal elements equal to the specified value. | |
| template<class RealB > | |
| ChMatrix33 (const ChVector< RealB > &vec) | |
| Construct a 3x3 matrix with the specified vector as its diagonal. | |
| template<class RealB > | |
| ChMatrix33 (const ChVector< RealB > &diag, const ChVector<> &off_diag) | |
| Construct a symmetric 3x3 matrix with the specified vectors for the diagonal and off-diagonal. More... | |
| template<class RealB > | |
| ChMatrix33 (const ChQuaternion< RealB > &mq) | |
| The constructor which builds a 3x3 matrix given a quaternion representing rotation. | |
| template<class RealB > | |
| ChMatrix33 (const Real angle, const ChVector< RealB > &axis) | |
| Constructor that builds a rotation matrix from an gale of rotation and an axis, defined in absolute coords. More... | |
| template<class RealB > | |
| ChMatrix33 (const RealB &m00, const RealB &m01, const RealB &m02, const RealB &m10, const RealB &m11, const RealB &m12, const RealB &m20, const RealB &m21, const RealB &m22) | |
| Complete generic constructor from 9 elements, ordered as three in first row, three in second row, three in third row. More... | |
| ChMatrix33< Real > & | operator= (const ChMatrix< Real > &matbis) |
| Assignment operator (from generic other matrix, acceptable only if other matrix has 3x3 size) | |
| ChMatrix33< Real > | operator- () const |
| Negates sign of the matrix. More... | |
| template<class RealB > | |
| ChMatrix33< Real > | operator+ (const ChMatrix< RealB > &matbis) const |
| Sums this matrix and another matrix (of same size) Performance warning: a new object is created. More... | |
| template<class RealB > | |
| ChMatrix33< Real > | operator- (const ChMatrix< RealB > &matbis) const |
| Subtracts this matrix and another matrix (of same size). More... | |
| template<class RealB > | |
| ChMatrix33< Real > | operator* (const ChMatrix33< RealB > &matbis) const |
| Multiplies this ChMatrix33 matrix and another ChMatrix33 matrix. More... | |
| template<class RealB , int B_rows, int B_columns> | |
| ChMatrixNM< Real, 3, B_columns > | operator* (const ChMatrixNM< RealB, 3, B_columns > &matbis) const |
| Multiplies this matrix and another ChMatrixNM matrix (3xN). More... | |
| template<class RealB > | |
| ChMatrixDynamic< Real > | operator* (const ChMatrix< RealB > &matbis) const |
| Multiplies this matrix and another generic matrix. More... | |
| ChMatrix33< Real > | operator* (const Real factor) const |
| Multiplies this matrix by a scalar value Performance warning: a new object is created. More... | |
| ChVector< Real > | operator* (const ChVector< Real > &myvect) const |
| Multiplies this matrix by a vector. | |
| void | Set33Identity () |
| Reset to identity a 3x3 matrix (ones on diagonal, zero elsewhere) Note: optimized, for 3x3 matrices ONLY! | |
| bool | IsIdentity () const |
| Return true if this matrix is the identity 3x3 matrix. | |
| template<class RealB > | |
| ChVector< Real > | Matr_x_Vect (const ChVector< RealB > &va) const |
| Multiplies this matrix by a vector, like in coordinate rotation [M]*v. More... | |
| template<class RealB > | |
| ChVector< Real > | MatrT_x_Vect (const ChVector< RealB > &va) const |
| Multiplies this matrix (transposed) by a vector, as [M]'*v. More... | |
| template<class RealB > | |
| Real | FastInvert (ChMatrix33< RealB > &matra) |
| Fast inversion of small matrices. More... | |
| void | FastEigen (ChMatrix33< Real > &v, Real d[]) |
| Returns 3 eigenvalues and 3 eigenvectors in a 3x3 matrix, Notes: More... | |
| template<class RealB > | |
| void | Set_A_quaternion (const ChQuaternion< RealB > &quat) |
| Fills a 3x3 matrix as a rotation matrix corresponding to the rotation expressed by the quaternion 'quat'. More... | |
| template<class RealB > | |
| void | Set_X_matrix (const ChVector< RealB > &vect) |
| Fills a 3x3 matrix as the "star" matrix, representing vector cross product. More... | |
| template<class RealB > | |
| void | Set_XY_matrix (const ChVector< RealB > &vectA, const ChVector< RealB > &vectB) |
| Fills a 3x3 matrix as product of two 'cross product' matrices, as double vector cross product. More... | |
| template<class RealB > | |
| void | Set_A_axis (const ChVector< RealB > &X, const ChVector< RealB > &Y, const ChVector< RealB > &Z) |
| Fills a 3x3 matrix as a rotation matrix, given the three versors X,Y,Z of the basis. More... | |
| template<class RealB > | |
| void | Set_A_Eulero (const ChVector< RealB > &eul) |
| Fills a 3x3 matrix as a rotation matrix, given the three Eulero angles (not to be confused with 'Eulero parameters', aka quaternions) | |
| template<class RealB > | |
| void | Set_A_Cardano (const ChVector< RealB > &car) |
| Fills a 3x3 matrix as a rotation matrix, given the three Cardano angles. More... | |
| template<class RealB > | |
| void | Set_A_Hpb (const ChVector< RealB > &hpb) |
| Fills a 3x3 matrix as a rotation matrix, given the three head, pitch, banking angles. More... | |
| template<class RealB > | |
| void | Set_A_Rxyz (const ChVector< RealB > &xyz) |
| Fills a 3x3 matrix as a rotation matrix, given the three angles of consecutive rotations about x,y,z axis. More... | |
| template<class RealB > | |
| void | Set_A_Rodriguez (const ChVector< RealB > &rod) |
| Fills a 3x3 matrix as a rotation matrix, given the three Rodriguez' parameters. More... | |
| void | Set_A_Xdir (const ChVector< Real > &Xdir, const ChVector< Real > &Vsingular=ChVector< Real >(0, 1, 0)) |
| Use the Gram-Schmidt orthonormalization to find the three orthogonal vectors of a coordinate system whose X axis is this vector. More... | |
| void | Set_A_AngAxis (const Real angle, const ChVector< Real > &axis) |
| Sets the rotation matrix from an gale of rotation and an axis, defined in absolute coords. More... | |
| ChQuaternion< Real > | Get_A_quaternion () const |
| Given a 3x3 rotation matrix, computes the corresponding quaternion. More... | |
| ChVector< Real > | Get_A_Xaxis () const |
| Given a 3x3 rotation matrix, returns the versor of X axis. | |
| ChVector< Real > | Get_A_Yaxis () const |
| Given a 3x3 rotation matrix, returns the versor of Y axis. | |
| ChVector< Real > | Get_A_Zaxis () const |
| Given a 3x3 rotation matrix, returns the versor of Z axis. | |
| ChVector< Real > | Get_A_Eulero () const |
| Given a 3x3 rotation matrix, returns the Eulero angles. | |
| ChVector< Real > | Get_A_Cardano () const |
| Given a 3x3 rotation matrix, returns the Cardano angles. | |
| ChVector< Real > | Get_A_Hpb () const |
| Given a 3x3 rotation matrix, returns the head-pitch-banking angles. | |
| ChVector< Real > | Get_A_Rxyz () const |
| Given a 3x3 rotation matrix, returns the angles for consecutive rotations on x,y,z axes. | |
| ChVector< Real > | Get_A_Rodriguez () const |
| Given a 3x3 rotation matrix, returns the Rodriguez parameters. | |
| ChMatrix33< Real > | Get_Abs_Matrix () const |
| Returns the absolute value of each element in the matrix. | |
| ChVector< Real > | Get_Diag () const |
| Given a 3x3 rotation matrix, get the diagonal. | |
| Real | GetTrace () const |
| Return the sum of the three elements on the diagonal. | |
| ChVector< Real > | GetAx () const |
| Assuming it is an orthogonal rotation matrix, get Ax vector. | |
| ChMatrix33< Real > | GetSymm () const |
| Return a symmetric matrix =(1/2)*(A+A') | |
| void | To_Marray (double marr[3][3]) |
| Convert to a 2-dimensional array. | |
| ChMatrix33< Real > | From_Marray (double marr[3][3]) |
| Convert from a 2-dimensional array. | |
 Public Member Functions inherited from chrono::ChMatrixNM< Real, 3, 3 > | |
| ChMatrixNM () | |
| The default constructor builds a NxN matrix. | |
| ChMatrixNM (const ChMatrixNM< Real, preall_rows, preall_columns > &msource) | |
| Copy constructor. | |
| ChMatrixNM (const ChMatrix< RealB > &msource) | |
| Copy constructor from all types of base matrices (only with same size) | |
| virtual | ~ChMatrixNM () |
| Destructor. | |
| ChMatrixNM< Real, preall_rows, preall_columns > & | operator= (const ChMatrix< Real > &matbis) |
| Assignment operator (from generic other matrix, acceptable only if other matrix has same size) | |
| ChMatrixNM< Real, preall_rows, preall_columns > | operator- () const |
| Negates sign of the matrix. More... | |
| ChMatrixNM< Real, preall_rows, preall_columns > | operator- (const ChMatrix< RealB > &matbis) const |
| Subtracts this matrix and another matrix (of same size). More... | |
| ChMatrixNM< Real, preall_rows, preall_columns > | operator+ (const ChMatrix< RealB > &matbis) const |
| Sums this matrix and another matrix (of same size) Performance warning: a new object is created. More... | |
| ChMatrixNM< Real, preall_rows, B_columns > | operator* (const ChMatrixNM< RealB, preall_columns, B_columns > &matbis) const |
| Multiplies this matrix and another ChMatrixNM matrix. More... | |
| ChMatrixDynamic< Real > | operator* (const ChMatrix< RealB > &matbis) const |
| Multiplies this matrix and another generic matrix. More... | |
| ChMatrixNM< Real, preall_rows, preall_columns > | operator* (const Real factor) const |
| Multiplies this matrix by a scalar value Performance warning: a new object is created. More... | |
| virtual void | Resize (int nrows, int ncols) |
| Resize for this matrix is NOT SUPPORTED ! DO NOTHING! | |
| Public Member Functions inherited from chrono::ChMatrix< Real > | |
| Real & | operator() (const int row, const int col) |
| Parenthesis () operator, to access a single element of the matrix, by supplying the row and the column (indexes start from 0). More... | |
| const Real & | operator() (const int row, const int col) const |
| Real & | operator() (const int el) |
| Parenthesis () operator, to access a single element of the matrix, by supplying the ordinal of the element (indexes start from 0). More... | |
| const Real & | operator() (const int el) const |
| Real * | operator[] (const int row) |
| The [] operator returns the address of the n-th row. More... | |
| const Real * | operator[] (const int row) const |
| ChMatrix< Real > & | operator*= (const Real factor) |
| Multiplies this matrix by a factor, in place. | |
| template<class RealB > | |
| ChMatrix< Real > & | operator+= (const ChMatrix< RealB > &matbis) |
| Increments this matrix by another matrix, in place. | |
| template<class RealB > | |
| ChMatrix< Real > & | operator-= (const ChMatrix< RealB > &matbis) |
| Decrements this matrix by another matrix, in place. | |
| bool | operator== (const ChMatrix< Real > &other) |
| Matrices are equal? | |
| bool | operator!= (const ChMatrix< Real > &other) |
| Matrices are not equal? | |
| template<class RealB > | |
| ChMatrix< Real > & | operator= (const ChMatrix< RealB > &matbis) |
| void | SetElement (int row, int col, Real elem) |
| Sets the element at row,col position. Indexes start with zero. | |
| Real | GetElement (int row, int col) |
| Gets the element at row,col position. More... | |
| Real | GetElement (int row, int col) const |
| void | SetElementN (int index, Real elem) |
| Sets the Nth element, counting row after row. | |
| Real | GetElementN (int index) |
| Gets the Nth element, counting row after row. | |
| const Real | GetElementN (int index) const |
| Real & | Element (int row, int col) |
| Access a single element of the matrix, by supplying the row and the column (indexes start from 0). More... | |
| const Real & | Element (int row, int col) const |
| Real & | ElementN (int index) |
| Access a single element of the matrix, the Nth element, counting row after row. More... | |
| const Real & | ElementN (int index) const |
| Real * | GetAddress () |
| Access directly the "Real* address" buffer. More... | |
| const Real * | GetAddress () const |
| int | GetRows () const |
| Gets the number of rows. | |
| int | GetColumns () const |
| Gets the number of columns. | |
| void | SwapColumns (int a, int b) |
| Swaps the columns a and b. | |
| void | SwapRows (int a, int b) |
| Swap the rows a and b. | |
| void | FillDiag (Real sample) |
| Fill the diagonal elements, given a sample. More... | |
| void | FillElem (Real sample) |
| Fill the matrix with the same value in all elements. | |
| void | FillRandom (Real max, Real min) |
| Fill the matrix with random float numbers, falling within the "max"/"min" range. More... | |
| virtual void | Reset () |
| Resets the matrix to zero (warning: simply sets memory to 0 bytes!) | |
| void | Reset (int nrows, int ncols) |
| Reset to zeroes and (if needed) changes the size to have row and col. | |
| void | SetIdentity () |
| Reset to identity matrix (ones on diagonal, zero elsewhere) | |
| template<class RealB > | |
| void | CopyFromMatrix (const ChMatrix< RealB > &matra) |
| Copy a matrix "matra" into this matrix. More... | |
| template<class RealB > | |
| void | CopyFromMatrixT (const ChMatrix< RealB > &matra) |
| Copy the transpose of matrix "matra" into this matrix. More... | |
| template<class RealB > | |
| void | CopyTUpMatrix (const ChMatrix< RealB > &matra) |
| Copy the transposed upper triangular part of "matra" in the lower triangular part of this matrix. More... | |
| template<class RealB > | |
| void | CopyTLwMatrix (const ChMatrix< RealB > &matra) |
| Copy the transposed lower triangulat part of "matra" in the upper triangular part of this matrix. More... | |
| virtual void | ArchiveOUT (ChArchiveOut &marchive) |
| Method to allow serialization of transient data in archives. | |
| virtual void | ArchiveIN (ChArchiveIn &marchive) |
| Method to allow de serialization of transient data from archives. | |
| void | StreamOUT (ChStreamOutAscii &mstream) |
| Method to allow serializing transient data into in ascii as a readable item, for example "chrono::GetLog() << myobject;" ***OBSOLETE***. | |
| void | StreamOUTdenseMatlabFormat (ChStreamOutAscii &mstream) |
| Method to allow serializing transient data into an ascii stream (ex. More... | |
| void | MatrNeg () |
| Changes the sign of all the elements of this matrix, in place. | |
| template<class RealB , class RealC > | |
| void | MatrAdd (const ChMatrix< RealB > &matra, const ChMatrix< RealC > &matrb) |
| Sum two matrices, and stores the result in "this" matrix: [this]=[A]+[B]. | |
| template<class RealB , class RealC > | |
| void | MatrSub (const ChMatrix< RealB > &matra, const ChMatrix< RealC > &matrb) |
| Subtract two matrices, and stores the result in "this" matrix: [this]=[A]-[B]. | |
| template<class RealB > | |
| void | MatrInc (const ChMatrix< RealB > &matra) |
| Increments this matrix with another matrix A, as: [this]+=[A]. | |
| void | MatrInc (Real val) |
Increments this matrix by val, as [this]+=val. | |
| template<class RealB > | |
| void | MatrDec (const ChMatrix< RealB > &matra) |
| Decrements this matrix with another matrix A, as: [this]-=[A]. | |
| void | MatrScale (Real factor) |
| Scales a matrix, multiplying all elements by a constant value: [this]*=f. | |
| template<class RealB > | |
| void | MatrScale (const ChMatrix< RealB > &matra) |
| Scales a matrix, multiplying all element by all other elements of matra (it is not the classical matrix multiplication!) | |
| void | MatrDivScale (Real factor) |
| Scales a matrix, dividing all elements by a constant value: [this]/=f. | |
| template<class RealB > | |
| void | MatrDivScale (const ChMatrix< RealB > &matra) |
| Scales a matrix, dividing all element by all other elements of matra (it is not the classical matrix multiplication!) | |
| template<class RealB , class RealC > | |
| void | MatrMultiply (const ChMatrix< RealB > &matra, const ChMatrix< RealC > &matrb) |
| Multiplies two matrices, and stores the result in "this" matrix: [this]=[A]*[B]. | |
| template<class RealB , class RealC > | |
| void | MatrMultiplyT (const ChMatrix< RealB > &matra, const ChMatrix< RealC > &matrb) |
| Multiplies two matrices (the second is considered transposed): [this]=[A]*[B]' Faster than doing B.MatrTranspose(); result.MatrMultiply(A,B); Note: no check on mistaken size of this! | |
| template<class RealB , class RealC > | |
| void | MatrTMultiply (const ChMatrix< RealB > &matra, const ChMatrix< RealC > &matrb) |
| Multiplies two matrices (the first is considered transposed): [this]=[A]'*[B] Faster than doing A.MatrTranspose(); result.MatrMultiply(A,B);. | |
| void | MatrTranspose () |
| Transpose this matrix in place. | |
| Real | Det () |
| Returns the determinant of the matrix. More... | |
| void | MatrInverse () |
| Returns the inverse of the matrix. More... | |
| bool | Equals (const ChMatrix< Real > &other) const |
| Returns true if vector is identical to other matrix. | |
| bool | Equals (const ChMatrix< Real > &other, Real tol) const |
| Returns true if vector equals another vector, within a tolerance 'tol'. | |
| template<class RealB > | |
| ChVector< Real > | Matr34_x_Quat (const ChQuaternion< RealB > &qua) |
| Multiplies this 3x4 matrix by a quaternion, as v=[G]*q The matrix must be 3x4. More... | |
| template<class RealB > | |
| ChQuaternion< Real > | Matr34T_x_Vect (const ChVector< RealB > &va) |
| Multiplies this 3x4 matrix (transposed) by a vector, as q=[G]'*v The matrix must be 3x4. More... | |
| template<class RealB > | |
| ChQuaternion< Real > | Matr44_x_Quat (const ChQuaternion< RealB > &qua) |
| Multiplies this 4x4 matrix (transposed) by a quaternion, The matrix must be 4x4. More... | |
| void | MatrXq_SemiTranspose () |
| Transposes only the lower-right 3x3 submatrix of a hemisymmetric 4x4 matrix, used when the 4x4 matrix is a "star" matrix [q] coming from a quaternion q: the non commutative quat. More... | |
| void | MatrXq_SemiNeg () |
| Change the sign of the 2nd, 3rd and 4th columns of a 4x4 matrix, The product between a quaternion q1 and the conjugate of q2 (q2'), is: q1 x q2' = [q1]*q2' = [q1sn]*q2 where [q1sn] is the semi-negation of the 4x4 matrix [q1]. More... | |
| Real | NormInf () const |
| Gets the norm infinite of the matrix, i.e. More... | |
| Real | NormTwo () const |
| Gets the norm two of the matrix, i.e. More... | |
| Real | Max () const |
| Finds max value among the values of the matrix. | |
| Real | Min () const |
| Finds min value among the values of the matrix. | |
| void | LinInterpolate (const ChMatrix< Real > &matra, const ChMatrix< Real > &matrb, Real mx) |
| Linear interpolation of two matrices. More... | |
| void | RowColInterp (Real vmin, Real vmax, Real umin, Real umax) |
| Fills a matrix or a vector with a bilinear interpolation, from corner values (as a u-v patch). More... | |
| template<class RealB > | |
| void | PasteMatrix (const ChMatrix< RealB > &matra, int insrow, int inscol) |
| Paste a matrix "matra" into "this", inserting at location insrow-inscol. More... | |
| template<class RealB > | |
| void | PasteSumMatrix (const ChMatrix< RealB > &matra, int insrow, int inscol) |
| Paste a matrix "matra" into "this", inserting at location insrow-inscol and performing a sum with the preexisting values. More... | |
| template<class RealB > | |
| void | PasteTranspMatrix (const ChMatrix< RealB > &matra, int insrow, int inscol) |
| Paste a matrix "matra", transposed, into "this", inserting at location insrow-inscol. More... | |
| template<class RealB > | |
| void | PasteSumTranspMatrix (const ChMatrix< RealB > &matra, int insrow, int inscol) |
| Paste a matrix "matra", transposed, into "this", inserting at location insrow-inscol and performing a sum with the preexisting values. More... | |
| template<class RealB > | |
| void | PasteClippedMatrix (const ChMatrix< RealB > &matra, int cliprow, int clipcol, int nrows, int ncolumns, int insrow, int inscol) |
| Paste a clipped portion of the matrix "matra" into "this", inserting the clip (of size nrows, ncolumns) at the location insrow-inscol. More... | |
| template<class RealB > | |
| void | PasteClippedMatrixToVector (const ChMatrix< RealB > &matra, int cliprow, int clipcol, int nrows, int ncolumns, int insindex) |
| Paste a clipped portion of the matrix "matra" into "this", where "this" is a vector (of ChMatrix type), inserting the clip (of size nrows, ncolumns) at the location insindex. More... | |
| template<class RealB > | |
| void | PasteClippedVectorToMatrix (const ChMatrix< RealB > &matra, int cliprow, int clipcol, int nrows, int ncolumns, int insindex) |
| Paste a clipped portion of a vector into "this", where "this" is a matrix (of ChMatrix type), inserting the clip (of size nrows, ncolumns) at the location insindex. More... | |
| template<class RealB > | |
| void | PasteSumClippedMatrix (const ChMatrix< RealB > &matra, int cliprow, int clipcol, int nrows, int ncolumns, int insrow, int inscol) |
| Paste a clipped portion of the matrix "matra" into "this", performing a sum with preexisting values, inserting the clip (of size nrows, ncolumns) at the location insrow-inscol. More... | |
| template<class RealB > | |
| void | PasteVector (const ChVector< RealB > &va, int insrow, int inscol) |
| Paste a vector "va" into the matrix. | |
| template<class RealB > | |
| void | PasteSumVector (const ChVector< RealB > &va, int insrow, int inscol) |
| Paste a vector "va" into the matrix, summing it with preexisting values. | |
| template<class RealB > | |
| void | PasteSubVector (const ChVector< RealB > &va, int insrow, int inscol) |
| Paste a vector "va" into the matrix, subtracting it from preexisting values. | |
| template<class RealB > | |
| void | PasteQuaternion (const ChQuaternion< RealB > &qa, int insrow, int inscol) |
| Paste a quaternion into the matrix. | |
| template<class RealB > | |
| void | PasteSumQuaternion (const ChQuaternion< RealB > &qa, int insrow, int inscol) |
| Paste a quaternion into the matrix, summing it with preexisting values. | |
| template<class RealB > | |
| void | PasteCoordsys (const ChCoordsys< RealB > &cs, int insrow, int inscol) |
| Paste a coordsys into the matrix. | |
| ChVector< Real > | ClipVector (int insrow, int inscol) const |
| Returns the vector clipped from insrow, inscol. | |
| ChQuaternion< Real > | ClipQuaternion (int insrow, int inscol) const |
| Returns the quaternion clipped from insrow, inscol. | |
| ChCoordsys< Real > | ClipCoordsys (int insrow, int inscol) const |
| Returns the coordsys clipped from insrow, inscol. | |
| template<class RealB > | |
| void | Set_Xq_matrix (const ChQuaternion< RealB > &q) |
| Fills a 4x4 matrix as the "star" matrix, representing quaternion cross product. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from chrono::ChMatrix< Real > | |
| template<class RealB , class RealC > | |
| static Real | MatrDot (const ChMatrix< RealB > &ma, const ChMatrix< RealC > &mb) |
| Computes dot product between two column-matrices (vectors) with same size. More... | |
| Protected Attributes inherited from chrono::ChMatrixNM< Real, 3, 3 > | |
| Real | buffer [preall_rows *preall_columns] |
| Protected Attributes inherited from chrono::ChMatrix< Real > | |
| int | rows = 1 |
| int | columns = 1 |
| Real * | address |
Constructor & Destructor Documentation
template<class Real = double>
template<class RealB >
| chrono::ChMatrix33< Real >::ChMatrix33 | ( | const ChVector< RealB > & | diag, |
| const ChVector<> & | off_diag | ||
| ) |
Construct a symmetric 3x3 matrix with the specified vectors for the diagonal and off-diagonal.
The off-diagonal vector is assumed to contain the elements A(0,1), A(0,2), A(1,2) in this order.
template<class Real = double>
template<class RealB >
| chrono::ChMatrix33< Real >::ChMatrix33 | ( | const Real | angle, |
| const ChVector< RealB > & | axis | ||
| ) |
Constructor that builds a rotation matrix from an gale of rotation and an axis, defined in absolute coords.
NOTE, axis must be normalized!
- Parameters
-
angle angle of rotation, in radians axis axis of rotation, normalized
template<class Real = double>
template<class RealB >
| chrono::ChMatrix33< Real >::ChMatrix33 | ( | const RealB & | m00, |
| const RealB & | m01, | ||
| const RealB & | m02, | ||
| const RealB & | m10, | ||
| const RealB & | m11, | ||
| const RealB & | m12, | ||
| const RealB & | m20, | ||
| const RealB & | m21, | ||
| const RealB & | m22 | ||
| ) |
Complete generic constructor from 9 elements, ordered as three in first row, three in second row, three in third row.
Member Function Documentation
template<class Real = double>
| void chrono::ChMatrix33< Real >::FastEigen | ( | ChMatrix33< Real > & | v, |
| Real | d[] | ||
| ) |
Returns 3 eigenvalues and 3 eigenvectors in a 3x3 matrix, Notes:
- only for cases where eigenvalues 'd' are real!!
- output eigenvectors as columns of matrix 'v'
- this original matrix is modified
template<class Real = double>
template<class RealB >
| Real chrono::ChMatrix33< Real >::FastInvert | ( | ChMatrix33< RealB > & | matra | ) |
Fast inversion of small matrices.
Result will be in 'matra'.
- Returns
- Returns the determinant.
template<class Real = double>
| ChQuaternion<Real> chrono::ChMatrix33< Real >::Get_A_quaternion | ( | ) | const |
Given a 3x3 rotation matrix, computes the corresponding quaternion.
template<class Real = double>
template<class RealB >
| ChVector<Real> chrono::ChMatrix33< Real >::Matr_x_Vect | ( | const ChVector< RealB > & | va | ) | const |
Multiplies this matrix by a vector, like in coordinate rotation [M]*v.
- Returns
- The result of the multiplication, i.e. a vector.
template<class Real = double>
template<class RealB >
| ChVector<Real> chrono::ChMatrix33< Real >::MatrT_x_Vect | ( | const ChVector< RealB > & | va | ) | const |
Multiplies this matrix (transposed) by a vector, as [M]'*v.
- Returns
- The result of the multiplication, i.e. a vector.
template<class Real = double>
template<class RealB >
| ChMatrix33<Real> chrono::ChMatrix33< Real >::operator* | ( | const ChMatrix33< RealB > & | matbis | ) | const |
Multiplies this ChMatrix33 matrix and another ChMatrix33 matrix.
Performance warning: a new object is created.
template<class Real = double>
template<class RealB , int B_rows, int B_columns>
| ChMatrixNM<Real, 3, B_columns> chrono::ChMatrix33< Real >::operator* | ( | const ChMatrixNM< RealB, 3, B_columns > & | matbis | ) | const |
Multiplies this matrix and another ChMatrixNM matrix (3xN).
Performance warning: a new object is created (of ChMatrixNM type).
template<class Real = double>
template<class RealB >
| ChMatrixDynamic<Real> chrono::ChMatrix33< Real >::operator* | ( | const ChMatrix< RealB > & | matbis | ) | const |
Multiplies this matrix and another generic matrix.
Performance warning: a new object is created (of ChMatrixDynamic type).
template<class Real = double>
| ChMatrix33<Real> chrono::ChMatrix33< Real >::operator* | ( | const Real | factor | ) | const |
Multiplies this matrix by a scalar value Performance warning: a new object is created.
template<class Real = double>
template<class RealB >
| ChMatrix33<Real> chrono::ChMatrix33< Real >::operator+ | ( | const ChMatrix< RealB > & | matbis | ) | const |
Sums this matrix and another matrix (of same size) Performance warning: a new object is created.
template<class Real = double>
| ChMatrix33<Real> chrono::ChMatrix33< Real >::operator- | ( | ) | const |
Negates sign of the matrix.
Performance warning: a new object is created.
template<class Real = double>
template<class RealB >
| ChMatrix33<Real> chrono::ChMatrix33< Real >::operator- | ( | const ChMatrix< RealB > & | matbis | ) | const |
Subtracts this matrix and another matrix (of same size).
Performance warning: a new object is created.
template<class Real = double>
| void chrono::ChMatrix33< Real >::Set_A_AngAxis | ( | const Real | angle, |
| const ChVector< Real > & | axis | ||
| ) |
Sets the rotation matrix from an gale of rotation and an axis, defined in absolute coords.
NOTE, axis must be normalized!
- Parameters
-
angle angle of rotation, in radians axis axis of rotation, normalized
template<class Real = double>
template<class RealB >
| void chrono::ChMatrix33< Real >::Set_A_axis | ( | const ChVector< RealB > & | X, |
| const ChVector< RealB > & | Y, | ||
| const ChVector< RealB > & | Z | ||
| ) |
Fills a 3x3 matrix as a rotation matrix, given the three versors X,Y,Z of the basis.
template<class Real = double>
template<class RealB >
| void chrono::ChMatrix33< Real >::Set_A_Cardano | ( | const ChVector< RealB > & | car | ) |
Fills a 3x3 matrix as a rotation matrix, given the three Cardano angles.
template<class Real = double>
template<class RealB >
| void chrono::ChMatrix33< Real >::Set_A_Hpb | ( | const ChVector< RealB > & | hpb | ) |
Fills a 3x3 matrix as a rotation matrix, given the three head, pitch, banking angles.
template<class Real = double>
template<class RealB >
| void chrono::ChMatrix33< Real >::Set_A_quaternion | ( | const ChQuaternion< RealB > & | quat | ) |
Fills a 3x3 matrix as a rotation matrix corresponding to the rotation expressed by the quaternion 'quat'.
template<class Real = double>
template<class RealB >
| void chrono::ChMatrix33< Real >::Set_A_Rodriguez | ( | const ChVector< RealB > & | rod | ) |
Fills a 3x3 matrix as a rotation matrix, given the three Rodriguez' parameters.
template<class Real = double>
template<class RealB >
| void chrono::ChMatrix33< Real >::Set_A_Rxyz | ( | const ChVector< RealB > & | xyz | ) |
Fills a 3x3 matrix as a rotation matrix, given the three angles of consecutive rotations about x,y,z axis.
template<class Real = double>
| void chrono::ChMatrix33< Real >::Set_A_Xdir | ( | const ChVector< Real > & | Xdir, |
| const ChVector< Real > & | Vsingular = ChVector<Real>(0, 1, 0) |
||
| ) |
Use the Gram-Schmidt orthonormalization to find the three orthogonal vectors of a coordinate system whose X axis is this vector.
mVsingular (optional) suggests the XY plane, possibly it is not too parallel to X.
- Parameters
-
Xdir X axis Vsingular a direction on XY plane (optional suggestion for Y axis)
template<class Real = double>
template<class RealB >
| void chrono::ChMatrix33< Real >::Set_X_matrix | ( | const ChVector< RealB > & | vect | ) |
Fills a 3x3 matrix as the "star" matrix, representing vector cross product.
That is, given two 3d vectors a and b, aXb= [Astar]*b
template<class Real = double>
template<class RealB >
| void chrono::ChMatrix33< Real >::Set_XY_matrix | ( | const ChVector< RealB > & | vectA, |
| const ChVector< RealB > & | vectB | ||
| ) |
Fills a 3x3 matrix as product of two 'cross product' matrices, as double vector cross product.
