Matrix6d (Artisynth API documentation)

java.lang.Object
- maspack.matrix.MatrixBase
- - maspack.matrix.DenseMatrixBase
  - - maspack.matrix.Matrix6dBase
    - - maspack.matrix.Matrix6d

All Implemented Interfaces:

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

Direct Known Subclasses:

Matrix6dBlock
```
public class Matrix6d
extends Matrix6dBase
```
A general 4 x 4 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 Matrix6d ZERO
Global zero matrix.
- Fields inherited from class maspack.matrix.Matrix6dBase
  m00, m01, m02, m03, m04, m05, m10, m11, m12, m13, m14, m15, m20, m21, m22, m23, m24, m25, m30, m31, m32, m33, m34, m35, m40, m41, m42, m43, m44, m45, m50, m51, m52, m53, m54, m55
- Fields inherited from interface maspack.matrix.Matrix
  INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Fields
Modifier and Type	Field and Description
`static Matrix6d`	`ZERO` Global zero matrix.

Constructor Summary

Constructors
Constructor and Description
`Matrix6d()` Creates a matrix and initializes it to zero.
`Matrix6d(double[] vals)` Creates a matrix and initializes its elements from an array of values.
`Matrix6d(Matrix M)` Creates a matrix and initializes its elements to those of the matrix M.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`add(Matrix6dBase M1)` Adds this matrix to M1 and places the result in this matrix.
`void`	`add(Matrix6dBase M1, Matrix6dBase M2)` Adds matrix M1 to M2 and places the result in this matrix.
`void`	`addSubMatrix00(Matrix3dBase M)` Adds to 3x3 sub-matrix of this matrix starting at (0, 0).
`void`	`addSubMatrix03(Matrix3dBase M)` Adds to the 3x3 sub-matrix of this matrix starting at (0, 3).
`void`	`addSubMatrix30(Matrix3dBase M)` Adds to the 3x3 sub-matrix of this matrix starting at (3, 0).
`void`	`addSubMatrix33(Matrix3dBase M)` Adds to the 3x3 sub-matrix of this matrix starting at (3, 3).
`Matrix6d`	`clone()`
`void`	`getSubMatrix00(Matrix3dBase M)` Gets the 3x3 sub-matrix of this matrix starting at (0, 0).
`void`	`getSubMatrix03(Matrix3dBase M)` Gets the 3x3 sub-matrix of this matrix starting at (0, 3).
`void`	`getSubMatrix30(Matrix3dBase M)` Gets the 3x3 sub-matrix of this matrix starting at (3, 0).
`void`	`getSubMatrix33(Matrix3dBase M)` Gets the 3x3 sub-matrix of this matrix starting at (3, 3).
`void`	`inverseTransform(RotationMatrix3d R)` Applies an inverse rotational transformation R to this matrix, in place.
`void`	`inverseTransform(RotationMatrix3d R, Matrix6d M1)` Applies an inverse rotational transformation R to a matrix M1 and place the result in this matrix.
`boolean`	`invert(Matrix6dBase M)` Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular.
`void`	`mul(Matrix6dBase M1)` Multiplies this matrix by M1 and places the result in this matrix.
`void`	`mul(Matrix6dBase M1, Matrix6dBase M2)` Multiplies matrix M1 by M2 and places the result in this matrix.
`void`	`mulAdd(Matrix M1, Matrix M2)` Multiplies M1 by M2 and places the result in this matrix.
`boolean`	`mulInverse(Matrix6dBase M1)` Multiplies this matrix by the inverse of M1 and places the result in this matrix.
`boolean`	`mulInverseBoth(Matrix6dBase M1, Matrix6dBase M2)` Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.
`boolean`	`mulInverseLeft(Matrix6dBase M1, Matrix6dBase M2)` Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.
`boolean`	`mulInverseRight(Matrix6dBase M1, Matrix6dBase M2)` Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.
`void`	`mulTranspose(Matrix6dBase M1)` Multiplies this matrix by the transpose of M1 and places the result in this matrix.
`void`	`mulTransposeBoth(Matrix6dBase M1, Matrix6dBase M2)` Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.
`void`	`mulTransposeLeft(Matrix6dBase M1, Matrix6dBase M2)` Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.
`void`	`mulTransposeRight(Matrix6dBase M1, Matrix6dBase M2)` Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.
`void`	`negate(Matrix6dBase M1)` Sets this matrix to the negative of M1.
`void`	`scale(double s)` Scales the elements of this matrix by `s`.
`void`	`scale(double s, Matrix6dBase M1)` Scales the elements of matrix M1 by `s` and places the results in this matrix.
`void`	`setDiagonal(double[] vals)` Sets this matrix to a diagonal matrix whose values are specified by the array vals.
`void`	`setDiagonal(VectorNd diag)`
`void`	`setLowerToUpper()` Makes this matrix symmetric by setting its lower triangular elements equal to the corresponding upper triangular elements.
`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`	`setSubMatrix00(Matrix3dBase M)` Sets the 3x3 sub-matrix of this matrix starting at (0, 0).
`void`	`setSubMatrix03(Matrix3dBase M)` Sets the 3x3 sub-matrix of this matrix starting at (0, 3).
`void`	`setSubMatrix30(Matrix3dBase M)` Sets the 3x3 sub-matrix of this matrix starting at (3, 0).
`void`	`setSubMatrix33(Matrix3dBase M)` Sets the 3x3 sub-matrix of this matrix starting at (3, 3).
`void`	`setZero()` Sets the elements of this matrix to zero.
`void`	`sub(Matrix6dBase M1)` Subtracts this matrix from M1 and places the result in this matrix.
`void`	`sub(Matrix6dBase M1, Matrix6dBase M2)` Subtracts matrix M1 from M2 and places the result in this matrix.
`void`	`transform(RotationMatrix3d R)` Applies a rotational transformation R to this matrix, in place.
`void`	`transform(RotationMatrix3d R, Matrix6d M1)` Applies a rotational transformation R to M1 and place the result in this matrix.
`void`	`transpose(Matrix6dBase M1)` Sets this matrix to the transpose of M

Methods inherited from class maspack.matrix.Matrix6dBase
colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, get, getColumn, getColumn, getRow, getRow, infinityNorm, invert, mul, mul, mulInverse, mulInverse, mulInverseTranspose, mulInverseTranspose, mulTranspose, mulTranspose, negate, oneNorm, rowSize, scaledAdd, set, set, set, set, setColumn, setIdentity, 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, 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, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, setSize, toString, toString, trace, write, write, write

- Field Detail
  - ZERO
```
public static final Matrix6d ZERO
```
    Global zero matrix. Should not be modified.
- Constructor Detail
  - Matrix6d
```
public Matrix6d()
```
    Creates a matrix and initializes it to zero.
  - Matrix6d
```
public Matrix6d(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*6+j
  - Matrix6d
```
public Matrix6d(Matrix M)
```
    Creates a matrix and initializes its elements to those of the matrix M.
    
    Parameters:
    
    M - matrix object to be copied.
- Method Detail
  - getSubMatrix00
```
public void getSubMatrix00(Matrix3dBase M)
```
    Gets the 3x3 sub-matrix of this matrix starting at (0, 0).
    
    Parameters:
    
    M - returns the sub matrix
  - getSubMatrix30
```
public void getSubMatrix30(Matrix3dBase M)
```
    Gets the 3x3 sub-matrix of this matrix starting at (3, 0).
    
    Parameters:
    
    M - returns the sub matrix
  - getSubMatrix03
```
public void getSubMatrix03(Matrix3dBase M)
```
    Gets the 3x3 sub-matrix of this matrix starting at (0, 3).
    
    Parameters:
    
    M - returns the sub matrix
  - getSubMatrix33
```
public void getSubMatrix33(Matrix3dBase M)
```
    Gets the 3x3 sub-matrix of this matrix starting at (3, 3).
    
    Parameters:
    
    M - returns the sub matrix
  - setSubMatrix00
```
public void setSubMatrix00(Matrix3dBase M)
```
    Sets the 3x3 sub-matrix of this matrix starting at (0, 0).
    
    Parameters:
    
    M - new sub matrix value
  - setSubMatrix30
```
public void setSubMatrix30(Matrix3dBase M)
```
    Sets the 3x3 sub-matrix of this matrix starting at (3, 0).
    
    Parameters:
    
    M - new sub matrix value
  - setSubMatrix03
```
public void setSubMatrix03(Matrix3dBase M)
```
    Sets the 3x3 sub-matrix of this matrix starting at (0, 3).
    
    Parameters:
    
    M - new sub matrix value
  - setSubMatrix33
```
public void setSubMatrix33(Matrix3dBase M)
```
    Sets the 3x3 sub-matrix of this matrix starting at (3, 3).
    
    Parameters:
    
    M - new sub matrix value
  - addSubMatrix00
```
public void addSubMatrix00(Matrix3dBase M)
```
    Adds to 3x3 sub-matrix of this matrix starting at (0, 0).
    
    Parameters:
    
    M - sub matrix to add
  - addSubMatrix30
```
public void addSubMatrix30(Matrix3dBase M)
```
    Adds to the 3x3 sub-matrix of this matrix starting at (3, 0).
    
    Parameters:
    
    M - sub matrix to add
  - addSubMatrix03
```
public void addSubMatrix03(Matrix3dBase M)
```
    Adds to the 3x3 sub-matrix of this matrix starting at (0, 3).
    
    Parameters:
    
    M - sub matrix to add
  - addSubMatrix33
```
public void addSubMatrix33(Matrix3dBase M)
```
    Adds to the 3x3 sub-matrix of this matrix starting at (3, 3).
    
    Parameters:
    
    M - sub matrix to add
  - mul
```
public void mul(Matrix6dBase M1)
```
    Multiplies this matrix by M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - mul
```
public void mul(Matrix6dBase M1,
                Matrix6dBase 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(Matrix6dBase 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(Matrix6dBase M1,
                             Matrix6dBase 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(Matrix6dBase M1,
                              Matrix6dBase 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(Matrix6dBase M1,
                             Matrix6dBase 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(Matrix6dBase 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(Matrix6dBase M1,
                               Matrix6dBase 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(Matrix6dBase M1,
                              Matrix6dBase 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(Matrix6dBase M1,
                              Matrix6dBase 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
  - mulAdd
```
public void mulAdd(Matrix M1,
                   Matrix M2)
```
    Multiplies M1 by M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left matrix term
    
    M2 - right matrix term
  - add
```
public void add(Matrix6dBase M1,
                Matrix6dBase 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(Matrix6dBase M1)
```
    Adds this matrix to M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - sub
```
public void sub(Matrix6dBase M1,
                Matrix6dBase 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(Matrix6dBase 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,
                  Matrix6dBase 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
  - negate
```
public void negate(Matrix6dBase M1)
```
    Sets this matrix to the negative of M1.
    
    Parameters:
    
    M1 - matrix to negate
  - transpose
```
public void transpose(Matrix6dBase 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(Matrix6dBase M)
```
    Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular. The inverse is computed using an LU decomposition with partial pivoting.
    
    Parameters:
    
    M - matrix to invert
    
    Returns:
    
    false if M is singular
  - setDiagonal
```
public void setDiagonal(VectorNd diag)
```
  - 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
  - transform
```
public void transform(RotationMatrix3d R)
```
    Applies a rotational transformation R to this matrix, in place. Equivalent to transform(R,M) with M equal to this matrix.
    
    Parameters:
    
    R - rotational transformation matrix
  - transform
```
public void transform(RotationMatrix3d R,
                      Matrix6d M1)
```
    Applies a rotational transformation R to M1 and place the result in this matrix. This is equivalent to applying a rotational transform to each of the 4 3x3 submatrices:
```
    [ R  0 ]      [ R^T 0  ]
    [      ]  M1  [        ]
    [ 0  R ]      [ 0  R^T ]
 
```
    Parameters:
    
    R - rotational transformation matrix
    
    M1 - matrix to transform
  - inverseTransform
```
public void inverseTransform(RotationMatrix3d R)
```
    Applies an inverse rotational transformation R to this matrix, in place. Equivalent to inverseTransform(R,M) with M equal to this matrix.
    
    Parameters:
    
    R - rotational transformation matrix
  - inverseTransform
```
public void inverseTransform(RotationMatrix3d R,
                             Matrix6d M1)
```
    Applies an inverse rotational transformation R to a matrix M1 and place the result in this matrix. This is equivalent to applying an inverse rotational transform to each of the 4 3x3 submatrices:
```
    [ R^T  0 ]      [ R  0 ]
    [        ]  M1  [      ]
    [ 0  R^T ]      [ 0  R ]
 
```
    Parameters:
    
    R - rotational transformation matrix
    
    M1 - matrix to transform
  - setLowerToUpper
```
public void setLowerToUpper()
```
    Makes this matrix symmetric by setting its lower triangular elements equal to the corresponding upper triangular elements.
  - clone
```
public Matrix6d clone()
```
    Specified by:
    
    clone in interface Clonable
    
    Overrides:
    
    clone in class Matrix6dBase

Class Matrix6d

Nested Class Summary

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

Field Summary

Fields inherited from class maspack.matrix.Matrix6dBase

Fields inherited from interface maspack.matrix.Matrix

Constructor Summary

Method Summary

Methods inherited from class maspack.matrix.Matrix6dBase

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

ZERO

Constructor Detail

Matrix6d

Matrix6d

Matrix6d

Method Detail

getSubMatrix00

getSubMatrix30

getSubMatrix03

getSubMatrix33

setSubMatrix00

setSubMatrix30

setSubMatrix03

setSubMatrix33

addSubMatrix00

addSubMatrix30

addSubMatrix03

addSubMatrix33

mul

mul

mulTranspose

mulTransposeLeft

mulTransposeRight

mulTransposeBoth

mulInverse

mulInverseRight

mulInverseLeft

mulInverseBoth

mulAdd

add

add

sub

sub

scale

scale

negate

transpose

setZero

setRandom

setRandom

setRandom

invert

setDiagonal

setDiagonal

transform

transform

inverseTransform

inverseTransform

setLowerToUpper

clone