Matrix2d (Artisynth API documentation)

java.lang.Object
- maspack.matrix.MatrixBase
- - maspack.matrix.DenseMatrixBase
  - - maspack.matrix.Matrix2dBase
    - - maspack.matrix.Matrix2d

All Implemented Interfaces:

java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, Clonable

Direct Known Subclasses:

Matrix2x2Block
```
public class Matrix2d
extends Matrix2dBase
```
A general 3 x 3 matrix with the elements stored as explicit fields.

Nested Class Summary
- Nested classes/interfaces inherited from interface maspack.matrix.Matrix
  Matrix.Partition, Matrix.WriteFormat

Field Summary

Fields
Modifier and Type Field and Description

static Matrix2d IDENTITY
Global identity matrix.

static Matrix2d ZERO
Global zero matrix.
- Fields inherited from class maspack.matrix.Matrix2dBase
  m00, m01, m10, m11
- Fields inherited from interface maspack.matrix.Matrix
  INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Fields
Modifier and Type	Field and Description
`static Matrix2d`	`IDENTITY` Global identity matrix.
`static Matrix2d`	`ZERO` Global zero matrix.

Constructor Summary

Constructors
Constructor and Description
`Matrix2d()` Creates a matrix and initializes it to zero.
`Matrix2d(double[] vals)` Creates a matrix and initializes its elements from an array of values.
`Matrix2d(double m00, double m01, double m10, double m11)` Creates a matrix and initializes to provided values
`Matrix2d(Matrix M)` Creates a matrix and initializes its elements to those of the matrix M.
`Matrix2d(Matrix2dBase M)` Creates a matrix and initializes its elements to those of the matrix M.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`add(Matrix2dBase M1)` Adds this matrix to M1 and places the result in this matrix.
`void`	`add(Matrix2dBase M1, Matrix2dBase M2)` Adds matrix M1 to M2 and places the result in this matrix.
`void`	`addOuterProduct(double x0, double y0, double x1, double y1)` Adds an outer product to this matrix.
`void`	`addOuterProduct(Vector2d v0, Vector2d v1)` Adds an outer product to this matrix.
`void`	`addScaledOuterProduct(double s, Vector2d v0, Vector2d v1)` Adds a scaled outer product to this matrix.
`Matrix2d`	`clone()`
`boolean`	`invert()` Inverts this matrix in place, returning false if the matrix is detected to be singular.
`boolean`	`invert(Matrix2dBase M)` Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular.
`void`	`mul(Matrix2dBase M1)` Multiplies this matrix by M1 and places the result in this matrix.
`void`	`mul(Matrix2dBase M1, Matrix2dBase M2)` Multiplies matrix M1 by M2 and places the result in this matrix.
`boolean`	`mulInverse(Matrix2dBase M1)` Multiplies this matrix by the inverse of M1 and places the result in this matrix.
`boolean`	`mulInverseBoth(Matrix2dBase M1, Matrix2dBase M2)` Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.
`boolean`	`mulInverseLeft(Matrix2dBase M1, Matrix2dBase M2)` Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.
`boolean`	`mulInverseRight(Matrix2dBase M1, Matrix2dBase M2)` Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.
`void`	`mulTranspose(Matrix2dBase M1)` Multiplies this matrix by the transpose of M1 and places the result in this matrix.
`void`	`mulTransposeBoth(Matrix2dBase M1, Matrix2dBase M2)` Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.
`void`	`mulTransposeLeft(Matrix2dBase M1, Matrix2dBase M2)` Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.
`void`	`mulTransposeRight(Matrix2dBase M1, Matrix2dBase M2)` Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.
`void`	`negate(Matrix2dBase M1)` Sets this matrix to the negative of M1.
`void`	`outerProduct(Vector2d v0, Vector2d v1)` Sets this matrix to the outer product
`void`	`scale(double s)` Scales the elements of this matrix by `s`.
`void`	`scale(double s, Matrix2dBase M1)` Scales the elements of matrix M1 by `s` and places the results in this matrix.
`void`	`scaledAdd(double s, Matrix2dBase M1)` Computes s M1 and adds the result to this matrix.
`void`	`scaledAdd(double s, Matrix2dBase M1, Matrix2dBase M2)` Computes s M1 + M2 and places the result in this matrix.
`void`	`setColumns(Vector2d v0, Vector2d v1)` Sets the columns of this matrix to the vectors v0 and v1.
`void`	`setDiagonal(double[] vals)` Sets this matrix to a diagonal matrix whose values are specified by the array vals.
`void`	`setDiagonal(double m00, double m11)` Sets this matrix to a diagonal matrix whose values are specified.
`void`	`setDiagonal(Vector2d diag)` Sets this matrix to a diagonal matrix whose values are specified by diag.
`void`	`setRandom()` Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
`void`	`setRandom(double lower, double upper)` Sets the elements of this matrix to uniformly distributed random values in a specified range.
`void`	`setRandom(double lower, double upper, java.util.Random generator)` Sets the elements of this matrix to uniformly distributed random values in a specified range, using a supplied random number generator.
`void`	`setRows(Vector2d v0, Vector2d v1)` Sets the rows of this matrix to the vectors v0 and v1.
`void`	`setZero()` Sets the elements of this matrix to zero.
`static double`	`solve(Matrix2dBase M, Vector2d b, Vector2d x)`
`void`	`sub(Matrix2dBase M1)` Subtracts this matrix from M1 and places the result in this matrix.
`void`	`sub(Matrix2dBase M1, Matrix2dBase M2)` Subtracts matrix M1 from M2 and places the result in this matrix.
`void`	`transpose(Matrix2dBase M1)` Sets this matrix to the transpose of M

Methods inherited from class maspack.matrix.Matrix2dBase
colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, getColumn, getColumn, getColumn, getRow, getRow, getRow, infinityNorm, mul, mul, mul, mulAdd, mulAdd, mulInverse, mulInverse, mulInverseTranspose, mulInverseTranspose, mulTranspose, mulTranspose, negate, oneNorm, rowSize, set, set, set, set, set, setColumn, setColumn, setIdentity, setRow, setRow, transpose

Methods inherited from class maspack.matrix.DenseMatrixBase
add, checkConsistency, set, set, set, setCCSValues, setColumn, setCRSValues, setRow, setSubMatrix

Methods inherited from class maspack.matrix.MatrixBase
containsNaN, epsilonEquals, equals, frobeniusNormSquared, get, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getDefaultFormat, getRow, getSize, getSubMatrix, hasNaN, idString, isFixedSize, isSymmetric, maxNorm, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, setCRSValues, setDefaultFormat, setSize, toString, toString, toString, trace, write, write, write, write, write, write, writeToFile

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface maspack.matrix.Matrix
epsilonEquals, equals, frobeniusNormSquared, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getRow, getSize, getSubMatrix, isFixedSize, isSymmetric, maxNorm, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, setSize, toString, toString, trace, write, write, write

- Field Detail
  - IDENTITY
```
public static final Matrix2d IDENTITY
```
    Global identity matrix. Should not be modified.
  - ZERO
```
public static final Matrix2d ZERO
```
    Global zero matrix. Should not be modified.
- Constructor Detail
  - Matrix2d
```
public Matrix2d()
```
    Creates a matrix and initializes it to zero.
  - Matrix2d
```
public Matrix2d(double m00,
                double m01,
                double m10,
                double m11)
```
    Creates a matrix and initializes to provided values
    
    Parameters:
    
    m00 - top-left
    
    m01 - top-right
    
    m10 - bottom-left
    
    m11 - bottom-right
  - Matrix2d
```
public Matrix2d(double[] vals)
```
    Creates a matrix and initializes its elements from an array of values.
    
    Parameters:
    
    vals - element values for the matrix, with element (i,j) stored at location i*2+j
  - Matrix2d
```
public Matrix2d(Matrix M)
```
    Creates a matrix and initializes its elements to those of the matrix M.
    
    Parameters:
    
    M - matrix object to be copied.
  - Matrix2d
```
public Matrix2d(Matrix2dBase M)
```
    Creates a matrix and initializes its elements to those of the matrix M.
    
    Parameters:
    
    M - matrix object to be copied.
- Method Detail
  - setColumns
```
public void setColumns(Vector2d v0,
                       Vector2d v1)
```
    Sets the columns of this matrix to the vectors v0 and v1.
    
    Parameters:
    
    v0 - values for the first column
    
    v1 - values for the second column
  - setRows
```
public void setRows(Vector2d v0,
                    Vector2d v1)
```
    Sets the rows of this matrix to the vectors v0 and v1.
    
    Parameters:
    
    v0 - values for the first row
    
    v1 - values for the second row
  - mul
```
public void mul(Matrix2dBase M1)
```
    Multiplies this matrix by M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - mul
```
public void mul(Matrix2dBase M1,
                Matrix2dBase M2)
```
    Multiplies matrix M1 by M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - mulTranspose
```
public void mulTranspose(Matrix2dBase M1)
```
    Multiplies this matrix by the transpose of M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - mulTransposeLeft
```
public void mulTransposeLeft(Matrix2dBase M1,
                             Matrix2dBase M2)
```
    Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - mulTransposeRight
```
public void mulTransposeRight(Matrix2dBase M1,
                              Matrix2dBase M2)
```
    Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - mulTransposeBoth
```
public void mulTransposeBoth(Matrix2dBase M1,
                             Matrix2dBase M2)
```
    Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - mulInverse
```
public boolean mulInverse(Matrix2dBase M1)
```
    Multiplies this matrix by the inverse of M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
    
    Returns:
    
    false if M1 is singular
  - mulInverseRight
```
public boolean mulInverseRight(Matrix2dBase M1,
                               Matrix2dBase M2)
```
    Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
    
    Returns:
    
    false if M2 is singular
  - mulInverseLeft
```
public boolean mulInverseLeft(Matrix2dBase M1,
                              Matrix2dBase M2)
```
    Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
    
    Returns:
    
    false if M1 is singular
  - mulInverseBoth
```
public boolean mulInverseBoth(Matrix2dBase M1,
                              Matrix2dBase M2)
```
    Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
    
    Returns:
    
    false if M1 or M2 is singular
  - add
```
public void add(Matrix2dBase M1,
                Matrix2dBase M2)
```
    Adds matrix M1 to M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - add
```
public void add(Matrix2dBase M1)
```
    Adds this matrix to M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - sub
```
public void sub(Matrix2dBase M1,
                Matrix2dBase M2)
```
    Subtracts matrix M1 from M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - sub
```
public void sub(Matrix2dBase M1)
```
    Subtracts this matrix from M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - scale
```
public void scale(double s)
```
    Scales the elements of this matrix by s.
    
    Parameters:
    
    s - scaling factor
  - scale
```
public void scale(double s,
                  Matrix2dBase M1)
```
    Scales the elements of matrix M1 by s and places the results in this matrix.
    
    Parameters:
    
    s - scaling factor
    
    M1 - matrix to be scaled
  - scaledAdd
```
public void scaledAdd(double s,
                      Matrix2dBase M1,
                      Matrix2dBase M2)
```
    Computes s M1 + M2 and places the result in this matrix.
    
    Parameters:
    
    s - scaling factor
    
    M1 - matrix to be scaled
    
    M2 - matrix to be added
  - scaledAdd
```
public void scaledAdd(double s,
                      Matrix2dBase M1)
```
    Computes s M1 and adds the result to this matrix.
    
    Parameters:
    
    s - scaling factor
    
    M1 - matrix to be scaled and added
  - negate
```
public void negate(Matrix2dBase M1)
```
    Sets this matrix to the negative of M1.
    
    Parameters:
    
    M1 - matrix to negate
  - transpose
```
public void transpose(Matrix2dBase M1)
```
    Sets this matrix to the transpose of M
    
    Parameters:
    
    M1 - matrix to take the transpose of
  - setZero
```
public void setZero()
```
    Sets the elements of this matrix to zero.
  - setRandom
```
public void setRandom()
```
    Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
  - setRandom
```
public void setRandom(double lower,
                      double upper)
```
    Sets the elements of this matrix to uniformly distributed random values in a specified range.
    
    Parameters:
    
    lower - lower random value (inclusive)
    
    upper - upper random value (exclusive)
  - setRandom
```
public void setRandom(double lower,
                      double upper,
                      java.util.Random generator)
```
    Sets the elements of this matrix to uniformly distributed random values in a specified range, using a supplied random number generator.
    
    Parameters:
    
    lower - lower random value (inclusive)
    
    upper - upper random value (exclusive)
    
    generator - random number generator
  - invert
```
public boolean invert()
```
    Inverts this matrix in place, returning false if the matrix is detected to be singular.
    
    Overrides:
    
    invert in class Matrix2dBase
  - invert
```
public boolean invert(Matrix2dBase M)
```
    Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular.
    
    Parameters:
    
    M - matrix to invert
    
    Returns:
    
    false if M is singular
  - setDiagonal
```
public void setDiagonal(Vector2d diag)
```
    Sets this matrix to a diagonal matrix whose values are specified by diag.
    
    Parameters:
    
    diag - diagonal values
  - setDiagonal
```
public void setDiagonal(double[] vals)
```
    Sets this matrix to a diagonal matrix whose values are specified by the array vals.
    
    Parameters:
    
    vals - diagonal values
  - setDiagonal
```
public void setDiagonal(double m00,
                        double m11)
```
    Sets this matrix to a diagonal matrix whose values are specified.
    
    Parameters:
    
    m00 - first diagonal value
    
    m11 - second diagonal value
  - addOuterProduct
```
public void addOuterProduct(double x0,
                            double y0,
                            double x1,
                            double y1)
```
    Adds an outer product to this matrix. The outer product is formed from two vectors whose coordinates are given as arguments.
    
    Parameters:
    
    x0 - first vector x coordinate
    
    y0 - first vector y coordinate
    
    x1 - second vector x coordinate
    
    y1 - second vector y coordinate
  - addOuterProduct
```
public void addOuterProduct(Vector2d v0,
                            Vector2d v1)
```
    Adds an outer product to this matrix. The outer product is formed from two vectors are given as arguments.
    
    Parameters:
    
    v0 - first vector
    
    v1 - second vector
  - addScaledOuterProduct
```
public void addScaledOuterProduct(double s,
                                  Vector2d v0,
                                  Vector2d v1)
```
    Adds a scaled outer product to this matrix. The outer product is formed from two vectors are given as arguments.
    
    Parameters:
    
    s - scaling factor
    
    v0 - first vector
    
    v1 - second vector
  - outerProduct
```
public void outerProduct(Vector2d v0,
                         Vector2d v1)
```
    Sets this matrix to the outer product
```
 v0 v1^T
 
```
    Parameters:
    
    v0 - first vector
    
    v1 - second vector
  - solve
```
public static double solve(Matrix2dBase M,
                           Vector2d b,
                           Vector2d x)
```
  - clone
```
public Matrix2d clone()
```
    Specified by:
    
    clone in interface Clonable
    
    Overrides:
    
    clone in class Matrix2dBase

Class Matrix2d

Nested Class Summary

Nested classes/interfaces inherited from interface maspack.matrix.Matrix

Field Summary

Fields inherited from class maspack.matrix.Matrix2dBase

Fields inherited from interface maspack.matrix.Matrix

Constructor Summary

Method Summary

Methods inherited from class maspack.matrix.Matrix2dBase

Methods inherited from class maspack.matrix.DenseMatrixBase

Methods inherited from class maspack.matrix.MatrixBase

Methods inherited from class java.lang.Object

Methods inherited from interface maspack.matrix.Matrix

Field Detail

IDENTITY

ZERO

Constructor Detail

Matrix2d

Matrix2d

Matrix2d

Matrix2d

Matrix2d

Method Detail

setColumns

setRows

mul

mul

mulTranspose

mulTransposeLeft

mulTransposeRight

mulTransposeBoth

mulInverse

mulInverseRight

mulInverseLeft

mulInverseBoth

add

add

sub

sub

scale

scale

scaledAdd

scaledAdd

negate

transpose

setZero

setRandom

setRandom

setRandom

invert

invert

setDiagonal

setDiagonal

setDiagonal

addOuterProduct

addOuterProduct

addScaledOuterProduct

outerProduct

solve

clone