public class Matrix6x1 extends DenseMatrixBase
Matrix.Partition, Matrix.WriteFormat
Modifier and Type | Field and Description |
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double |
m00 |
double |
m10 |
double |
m20 |
double |
m30 |
double |
m40 |
double |
m50 |
static Matrix6x1 |
ZERO
Global zero matrix.
|
INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC
Constructor and Description |
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Matrix6x1()
Creates a new Matrix6x1.
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Modifier and Type | Method and Description |
---|---|
void |
add(Matrix M)
Adds this matrix to M and places the result in this matrix.
|
void |
add(Matrix6x1 M)
Adds the contents of a Matrix6x1 to this matrix block.
|
Matrix6x1 |
clone()
Creates a clone of this matrix.
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int |
colSize()
Number of columns in the matrix associated with this transformation.
|
double |
dot(Matrix6x1 M)
Returns the dot product of the elements of this matrix with a
another 6 x 1 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.
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void |
get(Vector3d v1,
Vector3d v2)
Gets the contents of this Matrix6x1 into two Vector3ds.
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void |
mul(Matrix6d M1,
Matrix6x1 M2)
Forms the product of a 6x6 matrix with a 6x1 matrix and places
the result in this matrix.
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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.
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void |
scaledAdd(double s,
Matrix6x1 M)
Adds the scaled contents of a Matrix6x1 to this matrix block.
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void |
set(int i,
int j,
double value)
Sets a single element of this matrix.
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void |
set(Matrix M)
Sets the size and values of this matrix to those of another matrix.
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void |
set(Matrix6x1 M)
Sets the contents of this Matrix6x1 to those of a specified block.
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void |
set(Vector3d v1,
Vector3d v2)
Sets the contents of this Matrix6x1 from two Vector3ds.
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void |
setWrench(Vector3d nrm,
Vector3d pnt)
Sets the contents of this Matrix6x1 to the wrench produced from nrm and
pnt.
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void |
setZero()
Sets the elements of this matrix to zero.
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void |
sub(Matrix M)
Subtracts this matrix from M and places the result in this matrix.
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void |
sub(Matrix6x1 M)
Subtracts the contents of a Matrix6x1 from this matrix block.
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void |
transform(RotationMatrix3d R)
Transforms the first three and last three elements of this Matrix6x1
into a new coordinate system specified by a rotation matrix R.
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java.lang.String |
transposeToString() |
java.lang.String |
transposeToString(NumberFormat fmt) |
java.lang.String |
transposeToString(java.lang.String fmtStr) |
add, checkConsistency, set, set, set, set, setCCSValues, setColumn, setColumn, setCRSValues, setRow, setRow, setSubMatrix
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
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
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
public double m00
public double m10
public double m20
public double m30
public double m40
public double m50
public static final Matrix6x1 ZERO
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 indexpublic 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)
set
in interface Matrix
set
in class DenseMatrixBase
M
- matrix whose size and values are copiedpublic void set(Matrix6x1 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(Matrix6d M1, Matrix6x1 M2)
M1
- 6x6 matrixM2
- 6x1 matrixpublic void scale(double s)
s
.s
- scaling factorpublic void add(Matrix M)
M
- right-hand matrixImproperSizeException
- if this matrix and M have different sizespublic void scaledAdd(double s, Matrix M)
s
- scaling factorM
- matrix to be scaled and addedImproperSizeException
- if this matrix and M have different sizespublic void add(Matrix6x1 M)
M
- matrix block to addpublic void scaledAdd(double s, Matrix6x1 M)
M
- matrix block to addpublic void sub(Matrix M)
M
- right-hand matrixImproperSizeException
- if this matrix and M have different sizespublic void sub(Matrix6x1 M)
M
- matrix block to subtractpublic double dot(Vector3d v1, Vector3d v2)
v1
- first three vector elementsv2
- second three vector elementspublic double dot(Matrix6x1 M)
M
- matrix to take dot product withpublic java.lang.String transposeToString()
public java.lang.String transposeToString(java.lang.String fmtStr)
public java.lang.String transposeToString(NumberFormat fmt)
public Matrix6x1 clone()
clone
in class java.lang.Object