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java.lang.Objectmaspack.matrix.MatrixBase
maspack.matrix.DenseMatrixBase
maspack.matrix.Matrix1x6
public class Matrix1x6
Implements a 1 x 6 matrix
Nested Class Summary |
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Nested classes/interfaces inherited from interface maspack.matrix.Matrix |
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Matrix.Partition, Matrix.WriteFormat |
Field Summary | |
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double |
m00
|
double |
m01
|
double |
m02
|
double |
m03
|
double |
m04
|
double |
m05
|
static Matrix1x6 |
ZERO
Global zero matrix. |
Fields inherited from interface maspack.matrix.Matrix |
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INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC |
Constructor Summary | |
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Matrix1x6()
Creates a new Matrix1x6. |
Method Summary | |
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void |
add(Matrix M)
Adds this matrix to M and places the result in this matrix. |
void |
add(Matrix1x6 M)
Adds the contents of a Matrix1x6 to this matrix block. |
Matrix1x6 |
clone()
Creates a clone of this matrix. |
int |
colSize()
Number of columns in the matrix associated with this transformation. |
double |
dot(Matrix1x6 M)
Returns the dot product of the elements of this matrix with a another 1 x 6 matrix. |
double |
dot(Vector3d v1,
Vector3d v2)
Returns the dot product of the elements of this matrix with a 6-element vector formed from two 3-element vectors. |
double |
get(int i,
int j)
Gets a single element of this matrix. |
void |
get(Vector3d v1,
Vector3d v2)
Gets the contents of this Matrix1x6 into two Vector3ds. |
void |
mul(Matrix1x6 M1,
Matrix6d M2)
Forms the product of a 1x6 matrix with a 6x6 matrix and places the result in this matrix. |
int |
rowSize()
Number of rows in the matrix associated with this transformation. |
void |
scale(double s)
Scales the elements of this matrix by s . |
void |
scaledAdd(double s,
Matrix M)
Scales the matrix M and add the result to this matrix. |
void |
scaledAdd(double s,
Matrix1x6 M)
Adds the scaled contents of a Matrix1x6 to this matrix block. |
void |
set(int i,
int j,
double value)
Sets a single element of this matrix. |
void |
set(Matrix M)
Sets the size and values of this matrix to those of another matrix. |
void |
set(Matrix1x6 M)
Sets the contents of this Matrix1x6 to those of a specified block. |
void |
set(Vector3d v1,
Vector3d v2)
Sets the contents of this Matrix1x6 from two Vector3ds. |
void |
setWrench(Vector3d nrm,
Vector3d pnt)
Sets the contents of this Matrix6x1 to the wrench produced from nrm and pnt. |
void |
setZero()
Sets the elements of this matrix to zero. |
void |
sub(Matrix M)
Subtracts this matrix from M and places the result in this matrix. |
void |
sub(Matrix1x6 M)
Subtracts the contents of a Matrix1x6 from this matrix block. |
void |
transform(RotationMatrix3d R)
Transforms the first three and last three elements of this Matrix1x6 into a new coordinate system specified by a rotation matrix R. |
Methods inherited from class maspack.matrix.DenseMatrixBase |
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add, checkConsistency, set, set, set, set, setCCSValues, setColumn, setColumn, setCRSValues, setRow, setRow, setSubMatrix |
Methods inherited from class maspack.matrix.MatrixBase |
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containsNaN, determinant, epsilonEquals, equals, frobeniusNorm, get, get, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getColumn, getColumn, getColumn, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getDefaultFormat, getRow, getRow, getRow, getSize, getSubMatrix, hasNaN, idString, infinityNorm, isFixedSize, isSymmetric, mul, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, oneNorm, scan, setCRSValues, setDefaultFormat, setSize, toString, toString, toString, trace, write, write, write, write, write, writeToFile |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Methods inherited from interface maspack.matrix.Matrix |
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determinant, epsilonEquals, equals, frobeniusNorm, get, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getColumn, getColumn, getColumn, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getRow, getRow, getRow, getSize, getSubMatrix, infinityNorm, isFixedSize, isSymmetric, mul, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, oneNorm, scan, setSize, toString, trace, write, write, write |
Field Detail |
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public double m00
public double m01
public double m02
public double m03
public double m04
public double m05
public static final Matrix1x6 ZERO
Constructor Detail |
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public Matrix1x6()
Method Detail |
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public int rowSize()
mul
.
rowSize
in interface LinearTransformNd
rowSize
in interface Matrix
rowSize
in class MatrixBase
public int colSize()
mul
.
colSize
in interface LinearTransformNd
colSize
in interface Matrix
colSize
in class MatrixBase
public double get(int i, int j)
get
in interface Matrix
get
in class MatrixBase
i
- element row indexj
- element column index
public void get(Vector3d v1, Vector3d v2)
v1
- vector to return first three elements inv2
- vector to return second three elements inpublic void set(int i, int j, double value)
set
in interface DenseMatrix
set
in class DenseMatrixBase
i
- element row indexj
- element column indexvalue
- element valuepublic void setZero()
public void set(Matrix M)
DenseMatrixBase
set
in interface Matrix
set
in class DenseMatrixBase
M
- matrix whose size and values are copiedpublic void set(Matrix1x6 M)
M
- matrix block providing new valuespublic void set(Vector3d v1, Vector3d v2)
v1
- vector providing first three valuesv2
- vector providing second three valuespublic void setWrench(Vector3d nrm, Vector3d pnt)
nrm
- normal vector used to form the wrenchpnt
- point used to form the wrenchpublic void transform(RotationMatrix3d R)
R
- Rotation matrix specifying the rotationpublic void mul(Matrix1x6 M1, Matrix6d M2)
M1
- 1x6 matrixM2
- 6x6 matrixpublic void scale(double s)
s
.
s
- scaling factorpublic void add(Matrix M)
M
- right-hand matrix
ImproperSizeException
- if this matrix and M have different sizespublic void scaledAdd(double s, Matrix M)
s
- scaling factorM
- matrix to be scaled and added
ImproperSizeException
- if this matrix and M have different sizespublic void add(Matrix1x6 M)
M
- matrix block to addpublic void scaledAdd(double s, Matrix1x6 M)
M
- matrix block to addpublic void sub(Matrix M)
M
- right-hand matrix
ImproperSizeException
- if this matrix and M have different sizespublic void sub(Matrix1x6 M)
M
- matrix block to subtractpublic double dot(Vector3d v1, Vector3d v2)
v1
- first three vector elementsv2
- second three vector elements
public double dot(Matrix1x6 M)
M
- matrix to take dot product with
public Matrix1x6 clone()
clone
in class java.lang.Object
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