chrono::ChMatrix33< Real > Class Template Reference
Description
template<typename Real = double>
class chrono::ChMatrix33< Real >
Definition of a 3x3 fixed-size matrix to represent 3D rotations and inertia tensors.
#include <ChMatrix33.h>
Inherits Matrix< Real, 3, 3, Eigen::RowMajor >.
Public Member Functions | |
| ChMatrix33 () | |
| Default constructor: uninitialized 3x3 matrix. | |
| template<typename OtherDerived > | |
| ChMatrix33 (const Eigen::MatrixBase< OtherDerived > &other) | |
| Constructor from Eigen expressions. | |
| ChMatrix33 (Real val) | |
| Construct a diagonal matrix with the specified value on the diagonal. | |
| ChMatrix33 (const ChVector3< Real > &v) | |
| Construct a diagonal matrix with the specified values on the diagonal. | |
| ChMatrix33 (const ChVector3d &diag, const ChVector3d &off_diag) | |
| Construct a symmetric 3x3 matrix with the specified vectors for the diagonal and off-digonal elements. More... | |
| ChMatrix33 (const ChQuaternion< Real > &q) | |
| Construct a 3x3 rotation matrix from the given quaternion. | |
| ChMatrix33 (Real angle, const ChVector3d &axis) | |
| Construct a 3x3 rotation matrix from an angle and a rotation axis. More... | |
| ChMatrix33 (const ChVector3d &X, const ChVector3d &Y, const ChVector3d &Z) | |
| Construct a 3x3 matrix with the given vectors as columns. More... | |
| template<typename OtherDerived > | |
| ChMatrix33 & | operator= (const Eigen::MatrixBase< OtherDerived > &other) |
| This method allows assigning Eigen expressions to ChMatrix33. | |
| ChVector3< Real > | operator* (const ChVector3< Real > &v) const |
| Multiply this matrix by a 3d vector. | |
| void | SetFromQuaternion (const ChQuaternion< Real > &q) |
| Fill this 3x3 matrix as a rotation matrix, given a unit quaternion. | |
| void | SetFromEulerAnglesZXZ (const ChVector3< Real > &angles) |
| Fill this 3x3 matrix as a rotation matrix, given three Euler angles. | |
| void | SetFromCardanAnglesZXY (const ChVector3< Real > &angles) |
| Fill this 3x3 matrix as a rotation matrix, given three Cardano angles. | |
| void | SetFromCardanAnglesZYX (const ChVector3< Real > &angles) |
| Fill this 3x3 matrix as a rotation matrix, given three head, pitch, banking angles. | |
| void | SetFromCardanAnglesXYZ (const ChVector3< Real > &angles) |
| Fill this 3x3 matrix as a rotation matrix, given three angles of consecutive rotations about x,y,z axis. | |
| void | SetFromRodriguesParameters (const ChVector3< Real > &r) |
| Fill this 3x3 matrix as a rotation matrix, given three Rodrigues parameters. | |
| void | SetFromDirectionAxes (const ChVector3< Real > &X, const ChVector3< Real > &Y, const ChVector3< Real > &Z) |
| Fill this 3x3 matrix as a rotation matrix, given the three versors X,Y,Z of the basis. | |
| void | SetFromAxisX (const ChVector3< Real > &x_dir, const ChVector3< Real > &y_sugg=ChVector3< Real >(0, 1, 0)) |
| Fill this 3x3 matrix as a rotation matrix with the X axis along the provided direction. More... | |
| void | SetFromAxisY (const ChVector3< Real > &y_dir, const ChVector3< Real > &z_sugg=ChVector3< Real >(0, 0, 1)) |
| Fill this 3x3 matrix as a rotation matrix with the Y axis along the provided direction. More... | |
| void | SetFromAxisZ (const ChVector3< Real > &z_dir, const ChVector3< Real > &x_sugg=ChVector3< Real >(1, 0, 0)) |
| Fill this 3x3 matrix as a rotation matrix with the Z axis along the provided direction. More... | |
| ChVector3< Real > | GetAxisX () const |
| Return the unit vector along the X axis. | |
| ChVector3< Real > | GetAxisY () const |
| Return the unit vector along the Y axis. | |
| ChVector3< Real > | GetAxisZ () const |
| Return the unit vector along the Z axis. | |
| ChQuaternion< Real > | GetQuaternion () const |
| Return the corresponding unit quaternion. More... | |
| ChVector3< Real > | GetEulerAnglesZXZ () const |
| Return the Euler angles. More... | |
| ChVector3< Real > | GetCardanAnglesZXY () const |
| Return the Cardano angles. More... | |
| ChVector3< Real > | GetCardanAnglesZYX () const |
| Return the head-pitch-banking angles. More... | |
| ChVector3< Real > | GetCardanAnglesXYZ () const |
| Return the angles for consecutive rotations on x,y,z axes. More... | |
| ChVector3< Real > | GetRodriguesParameters () const |
| Return the Rodrigues parameters. More... | |
| void | SelfAdjointEigenSolve (ChMatrix33< Real > &evec, ChVectorN< Real, 3 > &evals) const |
| Compute eigenvectors and eigenvalues. More... | |
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/core/ChMatrix33.h
