maspack.matrix

Class Matrix4x3

java.lang.Object

maspack.matrix.MatrixBase

maspack.matrix.DenseMatrixBase

maspack.matrix.Matrix4x3

All Implemented Interfaces:

java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, VectorObject<Matrix4x3>, Clonable, Scannable

Direct Known Subclasses:

Matrix4x3Block

public class Matrix4x3
extends DenseMatrixBase
implements VectorObject<Matrix4x3>

Implements a 6 x 3 matrix

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
double	m01
double	m02
double	m10
double	m11
double	m12
double	m20
double	m21
double	m22
double	m30
double	m31
double	m32
static Matrix4x3	ZERO Global zero matrix.

Fields inherited from interface maspack.matrix.Matrix

INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Constructor Summary

Constructors

Constructor and Description
Matrix4x3() Creates a new Matrix4x3.

Method Summary

Modifier and Type	Method and Description
void	add(Matrix M) Adds this matrix to M and places the result in this matrix.
void	add(Matrix4x3 M) Adds the contents of a Matrix4x3 to this matrix block.
void	add(Matrix4x3 M1, Matrix4x3 M2) Computes M1 + M2 and places the result in this matrix.
void	addObj(Matrix4x3 M1) Adds v1 to this vector.
void	addSubMatrix00(Vector3d v) Adds v to the 1x3 sub-matrix starting at (0, 0).
void	addSubMatrix10(Matrix3d M) Adds M to the 3x3 sub-matrix starting at (1, 0).
Matrix4x3	clone() Creates a clone of this matrix.
int	colSize() Number of columns in the matrix associated with this transformation.
boolean	epsilonEquals(Matrix4x3 M1, double epsilon) Returns true if the components of this vector are equal to those of v1, within the tolerance tol.
boolean	equals(Matrix4x3 M1)
double	get(int i, int j) Gets a single element of this matrix.
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.
void	getRow(int i, Vector3d row) Copies a row of this matrix into a 3-vector.
void	mulAdd(Matrix4d M1, Matrix4x3 M2) Multiplies the 4x4 matrix M1 by the 4x3 matrix M2 and adds the result to this matrix.
void	mulAdd(Matrix M1, Matrix M2) Multiplies M1 by M2 and places the result in this matrix.
void	mulTransposeLeftAdd(Matrix M1, Matrix M2) Multiplies M1^T by M2 and places the result in this matrix.
void	mulTransposeRightAdd(Matrix M1, Matrix M2) Multiplies M1 by M2^T and places the result in this matrix.
void	negate() Negates this matrix in place.
void	negate(Matrix4x3 M) Sets this matrix to the negative of M.
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	scale(double s, Matrix4x3 M) Computes s M and places the result in this matrix.
void	scaledAdd(double s, Matrix M) Scales the matrix M and add the result to this matrix.
void	scaledAdd(double s, Matrix4x3 M) Computes s M and adds the result to this matrix.
void	scaledAdd(double s, Matrix4x3 M1, Matrix4x3 M2) Computes s M1 + M2 and places the result in this matrix.
void	scaledAddObj(double s, Matrix4x3 M1) Scales v1 by s and adds it to this vector.
void	scaleObj(double s) Scales this vector by s.
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(Matrix4x3 M) Sets the contents of this Matrix4x3 to those of a specified block.
void	setColumn(int j, double[] values) Sets a column of this matrix from an array of doubles.
void	setRow(int i, double[] values) Set a row of this matrix from an array of doubles.
void	setRow(int i, Vector3d row) Sets a row of this matrix to the specified 3-vector.
void	setSubMatrix00(Vector3d v) Sets the 1x3 sub-matrix starting at (0, 0) to v
void	setSubMatrix10(Matrix3d M) Sets the 3x3 sub-matrix starting at (1, 0) to M
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(Matrix4x3 M) Subtracts the contents of a Matrix4x3 from this matrix block.
void	sub(Matrix4x3 M1, Matrix4x3 M2) Computes M1 - M2 places the result in this matrix.
void	transpose(Matrix3x4 M) Sets this matrix to the transpose of M

Methods inherited from class maspack.matrix.DenseMatrixBase

add, checkConsistency, set, set, set, set, setCCSValues, setColumn, setCRSValues, setRandom, setRow, setSubMatrix

Methods inherited from class maspack.matrix.MatrixBase

containsNaN, determinant, epsilonEquals, equals, frobeniusNorm, frobeniusNormSquared, get, get, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getDefaultFormat, getRow, getSize, getSubMatrix, hasNaN, idString, infinityNorm, isFixedSize, isSymmetric, isWritable, maxNorm, mul, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, oneNorm, 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.VectorObject

getThreeVectorValue

Methods inherited from interface maspack.util.Scannable

isWritable, scan, write

Methods inherited from interface maspack.matrix.Matrix

determinant, epsilonEquals, equals, frobeniusNorm, frobeniusNormSquared, get, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getRow, getSize, getSubMatrix, infinityNorm, isFixedSize, isSymmetric, maxNorm, mul, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, oneNorm, scan, setSize, toString, toString, trace, write, write, write

Field Detail

m00

public double m00

m01

public double m01

m02

public double m02

m10

public double m10

m11

public double m11

m12

public double m12

m20

public double m20

m21

public double m21

m22

public double m22

m30

public double m30

m31

public double m31

m32

public double m32

ZERO

public static final Matrix4x3 ZERO

Global zero matrix. Should not be modified.

Constructor Detail

Matrix4x3

public Matrix4x3()

Creates a new Matrix4x3.

Method Detail

rowSize

public int rowSize()

Number of rows in the matrix associated with this transformation. This will equal the size of the output vector in mul.

Specified by:

rowSize in interface LinearTransformNd

Specified by:

rowSize in interface Matrix

Specified by:

rowSize in class MatrixBase

Returns:

number of rows

colSize

public int colSize()

Number of columns in the matrix associated with this transformation. This will equal the size of the input vector in mul.

Specified by:

colSize in interface LinearTransformNd

Specified by:

colSize in interface Matrix

Specified by:

colSize in class MatrixBase

Returns:

number of columns

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

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

getRow

public void getRow(int i,
                   Vector3d row)

Copies a row of this matrix into a 3-vector.

Parameters:

i - row index

row - 3-vector into which the row is copied

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

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

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

setRow

public void setRow(int i,
                   Vector3d row)

Sets a row of this matrix to the specified 3-vector.

Parameters:

i - row index

row - 3-vector from which the row is copied

setZero

public void setZero()

Sets the elements of this matrix to zero.

Specified by:

setZero in interface VectorObject<Matrix4x3>

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(Matrix4x3 M)

Sets the contents of this Matrix4x3 to those of a specified block.

Specified by:

set in interface VectorObject<Matrix4x3>

Parameters:

M - matrix block providing new values

addSubMatrix00

public void addSubMatrix00(Vector3d v)

Adds v to the 1x3 sub-matrix starting at (0, 0).

Parameters:

v - values to add to the sub-matrix

addSubMatrix10

public void addSubMatrix10(Matrix3d M)

Adds M to the 3x3 sub-matrix starting at (1, 0).

Parameters:

M - values to add to the sub-matrix

setSubMatrix00

public void setSubMatrix00(Vector3d v)

Sets the 1x3 sub-matrix starting at (0, 0) to v

Parameters:

v - new sub-matrix values

setSubMatrix10

public void setSubMatrix10(Matrix3d M)

Sets the 3x3 sub-matrix starting at (1, 0) to M

Parameters:

M - new sub-matrix values

scale

public void scale(double s)

Scales the elements of this matrix by s.

Parameters:

s - scaling factor

scale

public void scale(double s,
                  Matrix4x3 M)

Computes s M and places the result in this matrix.

Parameters:

s - scaling factor

M - matrix to scale

add

public void add(Matrix M)

Adds this matrix to M and places the result in this matrix.

Parameters:

M - right-hand matrix

Throws:

ImproperSizeException - if this matrix and M have different sizes

scaledAdd

public void scaledAdd(double s,
                      Matrix M)

Scales the matrix M and add the result to this matrix.

Parameters:

s - scaling factor

M - matrix to be scaled and added

Throws:

ImproperSizeException - if this matrix and M have different sizes

add

public void add(Matrix4x3 M)

Adds the contents of a Matrix4x3 to this matrix block.

Parameters:

M - matrix block to add

add

public void add(Matrix4x3 M1,
                Matrix4x3 M2)

Computes M1 + M2 and places the result in this matrix.

Parameters:

M1 - first matrix to add

M2 - second matrix to add

scaledAdd

public void scaledAdd(double s,
                      Matrix4x3 M)

Computes s M and adds the result to this matrix.

Parameters:

s - scaling factor

M - matrix to be scaled and added

scaledAdd

public void scaledAdd(double s,
                      Matrix4x3 M1,
                      Matrix4x3 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

negate

public void negate(Matrix4x3 M)

Sets this matrix to the negative of M.

Parameters:

M - matrix to negate

negate

public void negate()

Negates this matrix in place.

sub

public void sub(Matrix M)

Subtracts this matrix from M and places the result in this matrix.

Parameters:

M - right-hand matrix

Throws:

ImproperSizeException - if this matrix and M have different sizes

sub

public void sub(Matrix4x3 M)

Subtracts the contents of a Matrix4x3 from this matrix block.

Parameters:

M - matrix block to subtract

sub

public void sub(Matrix4x3 M1,
                Matrix4x3 M2)

Computes M1 - M2 places the result in this matrix.

Parameters:

M1 - first matrix

M2 - matrix to subtract

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

mulTransposeRightAdd

public void mulTransposeRightAdd(Matrix M1,
                                 Matrix M2)

Multiplies M1 by M2^T and places the result in this matrix.

Parameters:

M1 - left matrix term

M2 - right matrix term

mulTransposeLeftAdd

public void mulTransposeLeftAdd(Matrix M1,
                                Matrix M2)

Multiplies M1^T by M2 and places the result in this matrix.

Parameters:

M1 - left matrix term

M2 - right matrix term

mulAdd

public void mulAdd(Matrix4d M1,
                   Matrix4x3 M2)

Multiplies the 4x4 matrix M1 by the 4x3 matrix M2 and adds the result to this matrix. This special method has been added to support operations involving quaternions.

Parameters:

M1 - left matrix term

M2 - right matrix term

transpose

public void transpose(Matrix3x4 M)

Sets this matrix to the transpose of M

Parameters:

M - matrix to take the transpose of

clone

public Matrix4x3 clone()

Creates a clone of this matrix.

Specified by:

clone in interface Clonable

Overrides:

clone in class java.lang.Object

scaleObj

public void scaleObj(double s)

Scales this vector by s.

Specified by:

scaleObj in interface VectorObject<Matrix4x3>

addObj

public void addObj(Matrix4x3 M1)

Adds v1 to this vector.

Specified by:

addObj in interface VectorObject<Matrix4x3>

scaledAddObj

public void scaledAddObj(double s,
                         Matrix4x3 M1)

Scales v1 by s and adds it to this vector.

Specified by:

scaledAddObj in interface VectorObject<Matrix4x3>

epsilonEquals

public boolean epsilonEquals(Matrix4x3 M1,
                             double epsilon)

Returns true if the components of this vector are equal to those of v1, within the tolerance tol. If tol = 0, then exact equality is required.

Specified by:

epsilonEquals in interface VectorObject<Matrix4x3>

equals

public boolean equals(Matrix4x3 M1)