RotationMatrix2d (Artisynth API documentation)

java.lang.Object
- maspack.matrix.MatrixBase
- - maspack.matrix.DenseMatrixBase
  - - maspack.matrix.Matrix2dBase
    - - maspack.matrix.RotationMatrix2d

All Implemented Interfaces:

java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, Clonable
```
public class RotationMatrix2d
extends Matrix2dBase
```

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 RotationMatrix2d IDENTITY
Global identity rotation.
- 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 RotationMatrix2d`	`IDENTITY` Global identity rotation.

Constructor Summary

Constructors
Constructor and Description

RotationMatrix2d()

RotationMatrix2d(double ang)

RotationMatrix2d(RotationMatrix2d R)

Constructors
Constructor and Description
`RotationMatrix2d()`
`RotationMatrix2d(double ang)`
`RotationMatrix2d(RotationMatrix2d R)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`RotationMatrix2d`	`clone()`
`double`	`getAngle()`
`void`	`inverseTransform(Vector2d vr)`
`void`	`inverseTransform(Vector2d vr, Vector2d v1)`
`boolean`	`invert()` Inverts this matrix in place, returning false if the matrix is detected to be singular.
`boolean`	`invert(RotationMatrix2d r1)`
`void`	`mul(RotationMatrix2d r1)`
`void`	`mul(RotationMatrix2d r1, RotationMatrix2d r2)`
`void`	`mulAngle(double ang)`
`void`	`mulInverse(RotationMatrix2d r1)`
`boolean`	`mulInverse(Vector2d vr)` Multiplies the column vector vr by the inverse of this matrix and places the result back in vr.
`boolean`	`mulInverse(Vector2d vr, Vector2d v1)` Multiplies the column vector v1 by the inverse of this matrix and places the result in vr.
`void`	`mulInverseBoth(RotationMatrix2d r1, RotationMatrix2d r2)`
`void`	`mulInverseLeft(RotationMatrix2d r1, RotationMatrix2d r2)`
`void`	`mulInverseRight(RotationMatrix2d r1, RotationMatrix2d r2)`
`boolean`	`mulInverseTranspose(Vector2d vr)` Multiplies vector vr by the inverse transpose of this matrix, in place.
`boolean`	`mulInverseTranspose(Vector2d vr, Vector2d v1)` Multiplies the column vector v1 by the inverse transpose of this matrix and places the result in vr.
`void`	`setAngle(double ang)`
`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(java.util.Random generator)`
`void`	`transform(Vector2d vr)`
`void`	`transform(Vector2d vr, Vector2d v1)`

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, mulTranspose, mulTranspose, mulTransposeLeftAdd, mulTransposeRightAdd, 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, isWritable, maxNorm, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, 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, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, setSize, toString, toString, trace, write, write, write

- Field Detail
  - IDENTITY
```
public static final RotationMatrix2d IDENTITY
```
    Global identity rotation. Should not be modified.
- Constructor Detail
  - RotationMatrix2d
```
public RotationMatrix2d()
```
  - RotationMatrix2d
```
public RotationMatrix2d(double ang)
```
  - RotationMatrix2d
```
public RotationMatrix2d(RotationMatrix2d R)
```
- Method Detail
  - mul
```
public void mul(RotationMatrix2d r1)
```
  - mul
```
public void mul(RotationMatrix2d r1,
                RotationMatrix2d r2)
```
  - mulInverse
```
public void mulInverse(RotationMatrix2d r1)
```
  - mulInverseLeft
```
public void mulInverseLeft(RotationMatrix2d r1,
                           RotationMatrix2d r2)
```
  - mulInverseRight
```
public void mulInverseRight(RotationMatrix2d r1,
                            RotationMatrix2d r2)
```
  - mulInverseBoth
```
public void mulInverseBoth(RotationMatrix2d r1,
                           RotationMatrix2d r2)
```
  - mulInverse
```
public boolean mulInverse(Vector2d vr,
                          Vector2d v1)
```
    Multiplies the column vector v1 by the inverse of this matrix and places the result in vr.
    
    Overrides:
    
    mulInverse in class Matrix2dBase
    
    Parameters:
    
    vr - result vector
    
    v1 - vector to multiply by
    
    Returns:
    
    true (matrix is never singular)
  - mulInverse
```
public boolean mulInverse(Vector2d vr)
```
    Multiplies the column vector vr by the inverse of this matrix and places the result back in vr.
    
    Overrides:
    
    mulInverse in class Matrix2dBase
    
    Parameters:
    
    vr - vector to multiply by (in place)
    
    Returns:
    
    true (matrix is never singular)
  - mulInverseTranspose
```
public boolean mulInverseTranspose(Vector2d vr,
                                   Vector2d v1)
```
    Multiplies the column vector v1 by the inverse transpose of this matrix and places the result in vr. For a rotation matrix, this is equivalent to simply multiplying by the matrix.
    
    Overrides:
    
    mulInverseTranspose in class Matrix2dBase
    
    Parameters:
    
    vr - result vector
    
    v1 - vector to multiply by
    
    Returns:
    
    true (matrix is never singular)
  - mulInverseTranspose
```
public boolean mulInverseTranspose(Vector2d vr)
```
    Multiplies vector vr by the inverse transpose of this matrix, in place. For a rotation matrix, this is equivalent to simply multiplying by the matrix.
    
    Overrides:
    
    mulInverseTranspose in class Matrix2dBase
    
    Parameters:
    
    vr - vector to multiply
    
    Returns:
    
    true (matrix is never singular)
  - invert
```
public boolean invert()
```
    Description copied from class: Matrix2dBase
    
    Inverts this matrix in place, returning false if the matrix is detected to be singular.
    
    Overrides:
    
    invert in class Matrix2dBase
  - invert
```
public boolean invert(RotationMatrix2d r1)
```
  - transform
```
public void transform(Vector2d vr,
                      Vector2d v1)
```
  - transform
```
public void transform(Vector2d vr)
```
  - inverseTransform
```
public void inverseTransform(Vector2d vr,
                             Vector2d v1)
```
  - inverseTransform
```
public void inverseTransform(Vector2d vr)
```
  - setAngle
```
public void setAngle(double ang)
```
  - mulAngle
```
public void mulAngle(double ang)
```
  - getAngle
```
public double getAngle()
```
  - setRandom
```
public void setRandom()
```
    Description copied from class: DenseMatrixBase
    
    Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
    
    Overrides:
    
    setRandom in class DenseMatrixBase
  - setRandom
```
public void setRandom(java.util.Random generator)
```
  - clone
```
public RotationMatrix2d clone()
```
    Specified by:
    
    clone in interface Clonable
    
    Overrides:
    
    clone in class Matrix2dBase

Class RotationMatrix2d

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

Constructor Detail

RotationMatrix2d

RotationMatrix2d

RotationMatrix2d

Method Detail

mul

mul

mulInverse

mulInverseLeft

mulInverseRight

mulInverseBoth

mulInverse

mulInverse

mulInverseTranspose

mulInverseTranspose

invert

invert

transform

transform

inverseTransform

inverseTransform

setAngle

mulAngle

getAngle

setRandom

setRandom

clone