Matrix6dBase (Artisynth API documentation)

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

All Implemented Interfaces:

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

Direct Known Subclasses:

Matrix6d
```
public abstract class Matrix6dBase
extends DenseMatrixBase
implements Clonable
```
Base class for 6 x 6 matrices in which the elements are stored as explicit fields. A primary motivation for such objects is computational speed.

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
`double`	`m00` Matrix element (0,0)
`double`	`m01` Matrix element (0,1)
`double`	`m02` Matrix element (0,2)
`double`	`m03` Matrix element (0,3)
`double`	`m04` Matrix element (0,4)
`double`	`m05` Matrix element (0,5)
`double`	`m10` Matrix element (1,0)
`double`	`m11` Matrix element (1,1)
`double`	`m12` Matrix element (1,2)
`double`	`m13` Matrix element (1,3)
`double`	`m14` Matrix element (1,4)
`double`	`m15` Matrix element (1,5)
`double`	`m20` Matrix element (2,0)
`double`	`m21` Matrix element (2,1)
`double`	`m22` Matrix element (2,2)
`double`	`m23` Matrix element (2,3)
`double`	`m24` Matrix element (2,4)
`double`	`m25` Matrix element (2,5)
`double`	`m30` Matrix element (3,0)
`double`	`m31` Matrix element (3,1)
`double`	`m32` Matrix element (3,2)
`double`	`m33` Matrix element (3,3)
`double`	`m34` Matrix element (3,4)
`double`	`m35` Matrix element (3,5)
`double`	`m40` Matrix element (4,0)
`double`	`m41` Matrix element (4,1)
`double`	`m42` Matrix element (4,2)
`double`	`m43` Matrix element (4,3)
`double`	`m44` Matrix element (4,4)
`double`	`m45` Matrix element (4,5)
`double`	`m50` Matrix element (5,0)
`double`	`m51` Matrix element (5,1)
`double`	`m52` Matrix element (5,2)
`double`	`m53` Matrix element (5,3)
`double`	`m54` Matrix element (5,4)
`double`	`m55` Matrix element (5,5)

Fields inherited from interface maspack.matrix.Matrix
INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Constructor Summary

Constructors
Constructor and Description

Matrix6dBase()

Constructors
Constructor and Description
`Matrix6dBase()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`Matrix6dBase`	`clone()`
`int`	`colSize()` Returns the number of columns in this matrix (which is always 6).
`double`	`determinant()` Returns the determinant of this matrix
`boolean`	`epsilonEquals(Matrix6dBase M1, double epsilon)` Returns true if the elements of this matrix equal those of matrix `M1`within a prescribed tolerance `epsilon`.
`boolean`	`equals(Matrix6dBase M1)` Returns true if the elements of this matrix exactly equal those of matrix `M1`.
`double`	`frobeniusNorm()` Returns the Frobenius norm of this matrix.
`void`	`get(double[] values)` Copies the elements of this matrix into an array of doubles.
`double`	`get(int i, int j)` Gets a single element of this matrix.
`void`	`get(MatrixNd M)` Gets the contents of this matrix into a MatrixNd.
`void`	`getColumn(int j, double[] values)` Copies a column of this matrix into an array of doubles.
`void`	`getColumn(int j, double[] values, int off)` Copies a column of this matrix into an array of doubles, starting at a specified offset.
`void`	`getRow(int i, double[] values)` Copies a row of this matrix into an array of doubles.
`void`	`getRow(int i, double[] values, int off)` Copies a row of this matrix into an array of doubles, starting at a specified offset.
`double`	`infinityNorm()` Returns the infinity norm of this matrix.
`boolean`	`invert()` Inverts this matrix in place, returning false if the matrix is detected to be singular.
`void`	`mul(VectorNd vr)` Multiplies this matrix by the column vector vr and places the result back into vr.
`void`	`mul(VectorNd vr, VectorNd v1)` Multiplies this matrix by the column vector v1 and places the result in the vector vr.
`boolean`	`mulInverse(VectorNd vr)` Multiplies the column vector vr by the inverse of this matrix and places the result back in vr.
`boolean`	`mulInverse(VectorNd vr, VectorNd v1)` Multiplies the column vector v1 by the inverse of this matrix and places the result in vr.
`boolean`	`mulInverseTranspose(VectorNd vr)` Multiplies the column vector vr by the inverse transpose of this matrix and places the result back in vr.
`boolean`	`mulInverseTranspose(VectorNd vr, VectorNd v1)` Multiplies the column vector v1 by the inverse transpose of this matrix and places the result in vr.
`void`	`mulTranspose(VectorNd vr)` Multiplies the transpose of this matrix by the vector vr and places the result back in vr.
`void`	`mulTranspose(VectorNd vr, VectorNd v1)` Multiplies the transpose of this matrix by the vector v1 and places the result in vr.
`void`	`negate()` Negates this matrix in place.
`double`	`oneNorm()` Returns the 1 norm of this matrix.
`int`	`rowSize()` Returns the number of rows in this matrix (which is always 6).
`void`	`scaledAdd(double s, Matrix6dBase M1)` Computes s M1 and adds the result to this matrix.
`void`	`set(double[] vals)` Sets the elements of this matrix from an array of doubles.
`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(Matrix6dBase M)` Sets the values of this matrix to those of matrix M.
`void`	`setColumn(int j, double[] values)` Sets a column of this matrix from an array of doubles.
`void`	`setIdentity()` Sets this matrix to the identity.
`void`	`setRow(int i, double[] values)` Set a row of this matrix from an array of doubles.
`void`	`transpose()` Transposes this matrix in place.

Methods inherited from class maspack.matrix.DenseMatrixBase
add, checkConsistency, set, set, set, setCCSValues, setColumn, setCRSValues, setRandom, 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, isWritable, maxNorm, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, scan, setCRSValues, setDefaultFormat, setSize, toString, toString, toString, trace, write, 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
  - m00
```
public double m00
```
    Matrix element (0,0)
  - m01
```
public double m01
```
    Matrix element (0,1)
  - m02
```
public double m02
```
    Matrix element (0,2)
  - m03
```
public double m03
```
    Matrix element (0,3)
  - m04
```
public double m04
```
    Matrix element (0,4)
  - m05
```
public double m05
```
    Matrix element (0,5)
  - m10
```
public double m10
```
    Matrix element (1,0)
  - m11
```
public double m11
```
    Matrix element (1,1)
  - m12
```
public double m12
```
    Matrix element (1,2)
  - m13
```
public double m13
```
    Matrix element (1,3)
  - m14
```
public double m14
```
    Matrix element (1,4)
  - m15
```
public double m15
```
    Matrix element (1,5)
  - m20
```
public double m20
```
    Matrix element (2,0)
  - m21
```
public double m21
```
    Matrix element (2,1)
  - m22
```
public double m22
```
    Matrix element (2,2)
  - m23
```
public double m23
```
    Matrix element (2,3)
  - m24
```
public double m24
```
    Matrix element (2,4)
  - m25
```
public double m25
```
    Matrix element (2,5)
  - m30
```
public double m30
```
    Matrix element (3,0)
  - m31
```
public double m31
```
    Matrix element (3,1)
  - m32
```
public double m32
```
    Matrix element (3,2)
  - m33
```
public double m33
```
    Matrix element (3,3)
  - m34
```
public double m34
```
    Matrix element (3,4)
  - m35
```
public double m35
```
    Matrix element (3,5)
  - m40
```
public double m40
```
    Matrix element (4,0)
  - m41
```
public double m41
```
    Matrix element (4,1)
  - m42
```
public double m42
```
    Matrix element (4,2)
  - m43
```
public double m43
```
    Matrix element (4,3)
  - m44
```
public double m44
```
    Matrix element (4,4)
  - m45
```
public double m45
```
    Matrix element (4,5)
  - m50
```
public double m50
```
    Matrix element (5,0)
  - m51
```
public double m51
```
    Matrix element (5,1)
  - m52
```
public double m52
```
    Matrix element (5,2)
  - m53
```
public double m53
```
    Matrix element (5,3)
  - m54
```
public double m54
```
    Matrix element (5,4)
  - m55
```
public double m55
```
    Matrix element (5,5)
- Constructor Detail
  - Matrix6dBase
```
public Matrix6dBase()
```
- Method Detail
  - rowSize
```
public final int rowSize()
```
    Returns the number of rows in this matrix (which is always 6).
    
    Specified by:
    
    rowSize in interface LinearTransformNd
    
    Specified by:
    
    rowSize in interface Matrix
    
    Specified by:
    
    rowSize in class MatrixBase
    
    Returns:
    
    6
  - colSize
```
public final int colSize()
```
    Returns the number of columns in this matrix (which is always 6).
    
    Specified by:
    
    colSize in interface LinearTransformNd
    
    Specified by:
    
    colSize in interface Matrix
    
    Specified by:
    
    colSize in class MatrixBase
    
    Returns:
    
    6
  - get
```
public double get(int i,
                  int j)
```
    Gets a single element of this matrix.
    
    Specified by:
    
    get in interface Matrix
    
    Specified by:
    
    get in class MatrixBase
    
    Parameters:
    
    i - element row index
    
    j - element column index
    
    Returns:
    
    element value
  - get
```
public void get(double[] values)
```
    Copies the elements of this matrix into an array of doubles. The elements are stored using row-major order, so that element (i,j) is stored at location i*colSize()+j.
    
    Specified by:
    
    get in interface Matrix
    
    Overrides:
    
    get in class MatrixBase
    
    Parameters:
    
    values - array into which values are copied
  - get
```
public void get(MatrixNd M)
```
    Gets the contents of this matrix into a MatrixNd. M matrix to receive the values of this matrix.
  - getColumn
```
public void getColumn(int j,
                      double[] values)
```
    Copies a column of this matrix into an array of doubles.
    
    Specified by:
    
    getColumn in interface Matrix
    
    Overrides:
    
    getColumn in class MatrixBase
    
    Parameters:
    
    j - column index
    
    values - array into which the column is copied
  - getColumn
```
public void getColumn(int j,
                      double[] values,
                      int off)
```
    Copies a column of this matrix into an array of doubles, starting at a specified offset.
    
    Specified by:
    
    getColumn in interface Matrix
    
    Overrides:
    
    getColumn in class MatrixBase
    
    Parameters:
    
    j - column index
    
    values - array into which the column is copied
    
    off - offset in values where copying should begin
  - getRow
```
public void getRow(int i,
                   double[] values)
```
    Copies a row of this matrix into an array of doubles.
    
    Specified by:
    
    getRow in interface Matrix
    
    Overrides:
    
    getRow in class MatrixBase
    
    Parameters:
    
    i - row index
    
    values - array into which the row is copied
  - getRow
```
public void getRow(int i,
                   double[] values,
                   int off)
```
    Copies a row of this matrix into an array of doubles, starting at a specified offset.
    
    Specified by:
    
    getRow in interface Matrix
    
    Overrides:
    
    getRow in class MatrixBase
    
    Parameters:
    
    i - row index
    
    values - array into which the row is copied
    
    off - offset in values where copying should begin
  - set
```
public void set(int i,
                int j,
                double value)
```
    Sets a single element of this matrix.
    
    Specified by:
    
    set in interface DenseMatrix
    
    Specified by:
    
    set in class DenseMatrixBase
    
    Parameters:
    
    i - element row index
    
    j - element column index
    
    value - element value
  - set
```
public void set(double[] vals)
```
    Sets the elements of this matrix from an array of doubles. The elements in the array should be stored using row-major order, so that element (i,j) is stored at location i*colSize()+j.
    
    Specified by:
    
    set in interface DenseMatrix
    
    Overrides:
    
    set in class DenseMatrixBase
    
    Parameters:
    
    vals - array from which values are copied
  - setColumn
```
public void setColumn(int j,
                      double[] values)
```
    Sets a column of this matrix from an array of doubles.
    
    Specified by:
    
    setColumn in interface DenseMatrix
    
    Overrides:
    
    setColumn in class DenseMatrixBase
    
    Parameters:
    
    j - column index
    
    values - array from which column values are copied
  - setRow
```
public void setRow(int i,
                   double[] values)
```
    Set a row of this matrix from an array of doubles.
    
    Specified by:
    
    setRow in interface DenseMatrix
    
    Overrides:
    
    setRow in class DenseMatrixBase
    
    Parameters:
    
    i - row index
    
    values - array from which the row is copied
  - set
```
public void set(Matrix M)
```
    Sets the size and values of this matrix to those of another matrix.
    
    Specified by:
    
    set in interface Matrix
    
    Overrides:
    
    set in class DenseMatrixBase
    
    Parameters:
    
    M - matrix whose size and values are copied
  - set
```
public void set(Matrix6dBase M)
```
    Sets the values of this matrix to those of matrix M.
    
    Parameters:
    
    M - matrix whose values are to be copied
  - mul
```
public void mul(VectorNd vr,
                VectorNd v1)
```
    Multiplies this matrix by the column vector v1 and places the result in the vector vr. If M represents this matrix, this is equivalent to computing
```
  vr = M v1
 
```
    Specified by:
    
    mul in interface LinearTransformNd
    
    Specified by:
    
    mul in interface Matrix
    
    Overrides:
    
    mul in class MatrixBase
    
    Parameters:
    
    vr - result vector
    
    v1 - vector to multiply by
  - mul
```
public void mul(VectorNd vr)
```
    Multiplies this matrix by the column vector vr and places the result back into vr. If M represents this matrix, this is equivalent to computing
```
  vr = M vr
 
```
    Parameters:
    
    vr - vector to multiply (in place)
  - mulTranspose
```
public void mulTranspose(VectorNd vr,
                         VectorNd v1)
```
    Multiplies the transpose of this matrix by the vector v1 and places the result in vr. If M represents this matrix, this is equivalent to computing
```
  vr = v1 M
 
```
    Specified by:
    
    mulTranspose in interface Matrix
    
    Overrides:
    
    mulTranspose in class MatrixBase
    
    Parameters:
    
    vr - result vector
    
    v1 - vector to multiply by
  - mulTranspose
```
public void mulTranspose(VectorNd vr)
```
    Multiplies the transpose of this matrix by the vector vr and places the result back in vr. If M represents this matrix, this is equivalent to computing
```
  vr = vr M
 
```
    Parameters:
    
    vr - vector to multiply by (in place)
  - mulInverse
```
public boolean mulInverse(VectorNd vr,
                          VectorNd v1)
```
    Multiplies the column vector v1 by the inverse of this matrix and places the result in vr.
    
    Parameters:
    
    vr - result vector
    
    v1 - vector to multiply by
    
    Returns:
    
    false if this matrix is singular
  - mulInverse
```
public boolean mulInverse(VectorNd vr)
```
    Multiplies the column vector vr by the inverse of this matrix and places the result back in vr.
    
    Parameters:
    
    vr - vector to multiply by (in place)
    
    Returns:
    
    false if this matrix is singular
  - mulInverseTranspose
```
public boolean mulInverseTranspose(VectorNd vr,
                                   VectorNd v1)
```
    Multiplies the column vector v1 by the inverse transpose of this matrix and places the result in vr.
    
    Parameters:
    
    vr - result vector
    
    v1 - vector to multiply by
    
    Returns:
    
    false if this matrix is singular
  - mulInverseTranspose
```
public boolean mulInverseTranspose(VectorNd vr)
```
    Multiplies the column vector vr by the inverse transpose of this matrix and places the result back in vr.
    
    Parameters:
    
    vr - vector to multiply by (in place)
    
    Returns:
    
    false if this matrix is singular
  - scaledAdd
```
public void scaledAdd(double s,
                      Matrix6dBase 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()
```
    Negates this matrix in place.
  - transpose
```
public void transpose()
```
    Transposes this matrix in place.
  - setIdentity
```
public void setIdentity()
```
    Sets this matrix to the identity.
  - epsilonEquals
```
public boolean epsilonEquals(Matrix6dBase M1,
                             double epsilon)
```
    Returns true if the elements of this matrix equal those of matrix M1within a prescribed tolerance epsilon.
    
    Parameters:
    
    M1 - matrix to compare with
    
    epsilon - comparison tolerance
    
    Returns:
    
    false if the matrices are not equal within the specified tolerance
  - equals
```
public boolean equals(Matrix6dBase M1)
```
    Returns true if the elements of this matrix exactly equal those of matrix M1.
    
    Parameters:
    
    M1 - matrix to compare with
    
    Returns:
    
    false if the matrices are not equal
  - infinityNorm
```
public double infinityNorm()
```
    Returns the infinity norm of this matrix. This is equal to the maximum of the vector 1-norm of each row.
    
    Specified by:
    
    infinityNorm in interface Matrix
    
    Overrides:
    
    infinityNorm in class MatrixBase
    
    Returns:
    
    infinity norm of this matrix
  - oneNorm
```
public double oneNorm()
```
    Returns the 1 norm of this matrix. This is equal to the maximum of the vector 1-norm of each column.
    
    Specified by:
    
    oneNorm in interface Matrix
    
    Overrides:
    
    oneNorm in class MatrixBase
    
    Returns:
    
    1 norm of this matrix
  - frobeniusNorm
```
public double frobeniusNorm()
```
    Returns the Frobenius norm of this matrix. This is equal to the square root of the sum of the squares of each element.
    
    Specified by:
    
    frobeniusNorm in interface Matrix
    
    Overrides:
    
    frobeniusNorm in class MatrixBase
    
    Returns:
    
    Frobenius norm of this matrix
  - invert
```
public boolean invert()
```
    Inverts this matrix in place, returning false if the matrix is detected to be singular. The inverse is computed using an LU decomposition with partial pivoting.
  - determinant
```
public double determinant()
                   throws ImproperSizeException
```
    Returns the determinant of this matrix
    
    Specified by:
    
    determinant in interface Matrix
    
    Overrides:
    
    determinant in class MatrixBase
    
    Returns:
    
    matrix determinant
    
    Throws:
    
    ImproperSizeException - if the matrix is not square
  - clone
```
public Matrix6dBase clone()
```
    Specified by:
    
    clone in interface Clonable
    
    Overrides:
    
    clone in class java.lang.Object

Class Matrix6dBase

Nested Class Summary

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

Field Summary

Fields inherited from interface maspack.matrix.Matrix

Constructor Summary

Method Summary

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

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

Constructor Detail

Matrix6dBase

Method Detail

rowSize

colSize

get

get

get

getColumn

getColumn

getRow

getRow

set

set

setColumn

setRow

set

set

mul

mul

mulTranspose

mulTranspose

mulInverse

mulInverse

mulInverseTranspose

mulInverseTranspose

scaledAdd

negate

transpose

setIdentity

epsilonEquals

equals