chai3d::cMatrix3d Struct Reference

This class implements a 3D matrix. More...

#include <CMatrix3d.h>

Public Member Functions
	cMatrix3d ()
	cMatrix3d (const double &a_m00, const double &a_m01, const double &a_m02, const double &a_m10, const double &a_m11, const double &a_m12, const double &a_m20, const double &a_m21, const double &a_m22)
	cMatrix3d (const cVector3d &a_colVector0, const cVector3d &a_colVector1, const cVector3d &a_colVector2)
	cMatrix3d (const double &a_angle1, const double &a_angle2, const double &a_angle3, const cEulerOrder a_eulerOrder, const bool a_useIntrinsicEulerModel=true, const bool a_anglesDefinedInDegrees=false)
	cMatrix3d (const cVector3d &a_axis, const double &a_angleRad)
	cMatrix3d (const double &a_axisX, const double &a_axisY, const double &a_axisZ, const double &a_angleRad)
void	identity ()
	This method builds an identity matrix. More...
void	set (const double &a_value)
	This method initializes all elements of this matrix with an input value. More...
void	set (const double a_source[3][3])
	This method initializes this matrix from an array. More...
void	set (const double &a_m00, const double &a_m01, const double &a_m02, const double &a_m10, const double &a_m11, const double &a_m12, const double &a_m20, const double &a_m21, const double &a_m22)
	This method initializes this matrix with individual elements passed as arguments. More...
void	setCol (const cVector3d &a_vectCol0, const cVector3d &a_vectCol1, const cVector3d &a_vectCol2)
	This method initialize this matrix with column vectors passed as arguments. More...
void	setCol0 (const cVector3d &a_vectCol)
	This method initializes column 0 of this matrix. More...
void	setCol1 (const cVector3d &a_vectCol)
	This method initializes column 1 of this matrix. More...
void	setCol2 (const cVector3d &a_vectCol)
	This method initializes column 2 of this matrix. More...
void	get (double *a_destination[])
	This method copies matrix elements to a table of doubles More...
cVector3d	getCol0 () const
	This method returns column vector 0 of matrix. More...
cVector3d	getCol1 () const
	This method returns column vector 1 of matrix. More...
cVector3d	getCol2 () const
	This method returns column vector 2 of matrix. More...
cVector3d	getRow (const unsigned int &a_index) const
	This method returns the i th row of matrix. More...
void	copyto (cMatrix3d &a_destination) const
	This method copies all elements of this matrix to another matrix. More...
void	copyfrom (const cMatrix3d &a_source)
	This method copies all elements from another matrix to this one. More...
bool	equals (cMatrix3d &a_matrix) const
	This method compares if two matrices are equal. More...
void	add (const cMatrix3d &a_matrix)
	This method computes the addition of this matrix with another. More...
void	addr (const cMatrix3d &a_matrix, cMatrix3d &a_result) const
	This method computes the addition of this matrix with another. More...
void	sub (const cMatrix3d &a_matrix)
	This method computes the subtraction of this matrix with another. More...
void	subr (const cMatrix3d &a_matrix, cMatrix3d &a_result) const
	This method computes the subtraction of this matrix with another. More...
void	mul (const cMatrix3d &a_matrix)
	This function computes the multiplication of this matrix with another. More...
void	mulr (const cMatrix3d &a_matrix, cMatrix3d &a_result) const
	This function computes the multiplication of this matrix with another. More...
void	mul (cVector3d &a_vector) const
	This function computes the multiplication of this matrix with a vector. More...
void	mulr (const cVector3d &a_vector, cVector3d &a_result) const
	This function computes the multiplication of this matrix with a vector. More...
double	det () const
	This method computes and returns the determinant of this matrix. More...
void	trans ()
	This method computes the transpose of this matrix. More...
void	transr (cMatrix3d &a_result) const
	This method computes the transpose of this matrix. More...
bool	invert ()
	This method computes the inverse of this matrix. More...
bool	invertr (cMatrix3d &a_result) const
	This method computes the inverse of this matrix. More...
void	orthogonalize ()
	This method orthogonalizes this matrix. More...
bool	setAxisAngleRotationRad (const cVector3d &a_axis, const double &a_angleRad)
	This method builds a rotation matrix from an axis-angle representation. More...
bool	setAxisAngleRotationDeg (const cVector3d &a_axis, const double &a_angleDeg)
	This method builds a rotation matrix from an axis-angle representation. More...
bool	setAxisAngleRotationRad (const double &a_axisX, const double &a_axisY, const double &a_axisZ, const double &a_angleRad)
	This method builds a rotation matrix from an axis-angle representation. More...
bool	setAxisAngleRotationDeg (const double &a_axisX, const double &a_axisY, const double &a_axisZ, const double &a_angleDeg)
	This method builds a rotation matrix from axis-angle representation. More...
void	setExtrinsicEulerRotationRad (const double &a_angle1, const double &a_angle2, const double &a_angle3, const cEulerOrder a_eulerOrder)
	This method builds a rotation matrix from an Euler angle representation. More...
void	setExtrinsicEulerRotationDeg (const double &a_angle1, const double &a_angle2, const double &a_angle3, const cEulerOrder a_eulerOrder)
	This method builds a rotation matrix from an Euler angle representation. More...
void	setIntrinsicEulerRotationRad (const double &a_angle1, const double &a_angle2, const double &a_angle3, const cEulerOrder a_eulerOrder)
	This method builds a rotation matrix from an Euler angle representation. More...
void	setIntrinsicEulerRotationDeg (const double &a_angle1, const double &a_angle2, const double &a_angle3, const cEulerOrder a_eulerOrder)
	This method builds a rotation matrix from an Euler angle representation. More...
bool	rotateAboutGlobalAxisRad (const cVector3d &a_axis, const double &a_angleRad)
	This method rotates this matrix around an axis described in global coordinates. More...
bool	rotateAboutGlobalAxisDeg (const cVector3d &a_axis, const double &a_angleDeg)
	This method rotates this matrix around an axis described in global coordinates. More...
bool	rotateAboutGlobalAxisRad (const double &a_axisX, const double &a_axisY, const double &a_axisZ, const double &a_angleRad)
	This method rotates this matrix around an axis described in global coordinates. More...
bool	rotateAboutGlobalAxisDeg (const double &a_axisX, const double &a_axisY, const double &a_axisZ, const double &a_angleDeg)
	This method rotates this matrix around an axis described in global coordinates. More...
bool	rotateAboutLocalAxisRad (const cVector3d &a_axis, const double &a_angleRad)
	This method rotates this matrix around an axis described in local coordinates. More...
bool	rotateAboutLocalAxisDeg (const cVector3d &a_axis, const double &a_angleDeg)
	This method rotates this matrix around an axis described in local coordinates. More...
bool	rotateAboutLocalAxisRad (const double &a_axisX, const double &a_axisY, const double &a_axisZ, const double &a_angleRad)
	This method rotates this matrix around an axis described in local coordinates. More...
bool	rotateAboutLocalAxisDeg (const double &a_axisX, const double &a_axisY, const double &a_axisZ, const double &a_angleDeg)
	This method rotates this matrix around an axis described in local coordinates. More...
bool	toAxisAngle (cVector3d &a_axis, double &a_angle) const
	This method converts this rotation matrix to an axis-angle representation. More...
std::string	str (const unsigned int a_precision=2) const
	This method converts this matrix to a string representation. More...
void	operator*= (const double &a_val)
	An overloaded *= operator for matrix/scalar multiplication. More...
cVector3d	operator* (const cVector3d &a_val)
	An overloaded * operator for matrix/vector multiplication. More...
cMatrix3d	operator* (const cMatrix3d &a_val)
	An overloaded * operator for matrix/matrix multiplication. More...
void	operator*= (const cMatrix3d &a_val)
	An overloaded *= operator for matrix/matrix multiplication. More...
void	operator+= (const cMatrix3d &a_input)
	An overloaded += operator for matrix/matrix addition. More...
void	operator-= (const cMatrix3d &a_input)
	An overloaded -= operator for matrix/matrix subtraction. More...
double &	operator() (const int a_index0, const int a_index1)
	An overloaded () operator. More...
const double &	operator() (const int a_index0, const int a_index1) const
	An overloaded () operator. More...

Detailed Description

This matrix class provides storage for a 3x3 double precision floating point matrix as well as basic matrix and vector operations.

Constructor & Destructor Documentation

chai3d::cMatrix3d::cMatrix3d ( )

inline

Constructor of cMatrix3d.

chai3d::cMatrix3d::cMatrix3d ( const double &  a_m00, const double &  a_m01, const double &  a_m02, const double &  a_m10, const double &  a_m11, const double &  a_m12, const double &  a_m20, const double &  a_m21, const double &  a_m22  )

inline

Constructor of cMatrix3d.
Initializes matrix by passing as arguments values for each cell.

Parameters

a_m00	Matrix Component (0,0)
a_m01	Matrix Component (0,1)
a_m02	Matrix Component (0,2)
a_m10	Matrix Component (1,0)
a_m11	Matrix Component (1,1)
a_m12	Matrix Component (1,2)
a_m20	Matrix Component (2,0)
a_m21	Matrix Component (2,1)
a_m22	Matrix Component (2,2)

chai3d::cMatrix3d::cMatrix3d ( const cVector3d &  a_colVector0, const cVector3d &  a_colVector1, const cVector3d &  a_colVector2  )

inline

Constructor of cMatrix3d.
Initializes matrix from a set of column vectors passed as arguments.

Parameters

a_colVector0	Column vector 0.
a_colVector1	Column vector 1.
a_colVector2	Column vector 2.

chai3d::cMatrix3d::cMatrix3d ( const double &  a_angle1, const double &  a_angle2, const double &  a_angle3, const cEulerOrder  a_eulerOrder, const bool  a_useIntrinsicEulerModel = true, const bool  a_anglesDefinedInDegrees = false  )

inline

Constructor of cMatrix3d.
Builds a rotation matrix from a set of Euler angles and co-moving axes of rotations.

Parameters

a_angle1	Angle of the first rotation in the sequence.
a_angle2	Angle of the second rotation in the sequence.
a_angle3	Angle of the third rotation in the sequence.
a_eulerOrder	The order of the axes about which the rotations are to be applied
a_useIntrinsicEulerModel	If true use intrinsic Euler model, if false use extrinsic Euler model.
a_anglesDefinedInDegrees	If true then the angles passed by argument are defined in degrees, if false then the angles are defined in radians.

chai3d::cMatrix3d::cMatrix3d ( const cVector3d &  a_axis, const double &  a_angleRad  )

inline

Constructor of cMatrix3d.
Builds a rotation matrix from an axis-angle representation passed as argument.

Parameters

a_axis	Axis vector.
a_angleRad	Angle in radians.

chai3d::cMatrix3d::cMatrix3d ( const double &  a_axisX, const double &  a_axisY, const double &  a_axisZ, const double &  a_angleRad  )

inline

Constructor of cMatrix3d.
Builds a rotation matrix from an axis-angle representation.

Parameters

a_axisX	x component of axis.
a_axisY	y component of axis.
a_axisZ	z component of axis.
a_angleRad	Angle in radian.

Member Function Documentation

void chai3d::cMatrix3d::identity ( )

inline

This method builds an identity matrix with ones on the main diagonal and zeros elsewhere.

void chai3d::cMatrix3d::set ( const double &  a_value )

inline

This method initializes all elements of this matrix with an input scalar value a_value passed as argument.

Parameters

a_value

Value.

void chai3d::cMatrix3d::set ( const double  a_source[3][3] )

inline

This method initializes this matrix from a table of doubles passed as argument.

Parameters

a_source

Table of doubles.

void chai3d::cMatrix3d::set ( const double &  a_m00, const double &  a_m01, const double &  a_m02, const double &  a_m10, const double &  a_m11, const double &  a_m12, const double &  a_m20, const double &  a_m21, const double &  a_m22  )

inline

This method initialize this matrix by passing as argument values for each cell.

Parameters

a_m00	Matrix Component (0,0)
a_m01	Matrix Component (0,1)
a_m02	Matrix Component (0,2)
a_m10	Matrix Component (1,0)
a_m11	Matrix Component (1,1)
a_m12	Matrix Component (1,2)
a_m20	Matrix Component (2,0)
a_m21	Matrix Component (2,1)
a_m22	Matrix Component (2,2)

void chai3d::cMatrix3d::setCol ( const cVector3d &  a_vectCol0, const cVector3d &  a_vectCol1, const cVector3d &  a_vectCol2  )

inline

This method initialize this matrix with column vectors passed as arguments a_vectCol0, a_vectCol1, and a_vectCol2.

this = [a_vectCol0, a_vectCol1, a_vectCol2]

Parameters

a_vectCol0	Vector Column 0.
a_vectCol1	Vector Column 1.
a_vectCol2	Vector Column 2.

void chai3d::cMatrix3d::setCol0 ( const cVector3d &  a_vectCol )

inline

This method sets column 0 of this matrix by passing an input vector a_vectCol passed as argument.

Parameters

a_vectCol

Vector Column 0.

void chai3d::cMatrix3d::setCol1 ( const cVector3d &  a_vectCol )

inline

This method sets column 1 of this matrix by passing an input vector a_vectCol passed as argument.

Parameters

a_vectCol

Vector Column 1.

void chai3d::cMatrix3d::setCol2 ( const cVector3d &  a_vectCol )

inline

This method sets column 2 of this matrix by passing an input vector a_vectCol passed as argument.

Parameters

a_vectCol

Vector Column 2.

void chai3d::cMatrix3d::get ( double *  a_destination[] )

inline

This method copies matrix elements to a table a_destination of doubles passed as argument.

Parameters

a_destination

Table of doubles.

cVector3d chai3d::cMatrix3d::getCol0 ( ) const

inline

This method returns column vector 0 of matrix.

Returns

Column vector 0 of matrix.

cVector3d chai3d::cMatrix3d::getCol1 ( ) const

inline

This method returns column vector 1 of matrix.

Returns

Column vector 1 of matrix.

cVector3d chai3d::cMatrix3d::getCol2 ( ) const

inline

This method returns column vector 2 of matrix.

Returns

Column vector 2 of matrix.

cVector3d chai3d::cMatrix3d::getRow ( const unsigned int &  a_index ) const

inline

This method returns the i th of matrix. The three components are returned through a cVector3d data structure.

Parameters

a_index

Index of row. (0,1 or 2)

Returns

i th row of matrix.

void chai3d::cMatrix3d::copyto ( cMatrix3d &  a_destination ) const

inline

This method copies all elements of this matrix to another matrix a_destination passed as argument.

a_destination = this

Parameters

a_destination

Destination matrix.

void chai3d::cMatrix3d::copyfrom ( const cMatrix3d &  a_source )

inline

This method copies all elements of a matrix a_source passed as argument to this one.

this = a_source

Parameters

a_source

Source matrix.

bool chai3d::cMatrix3d::equals ( cMatrix3d &  a_matrix ) const

inline

This methods compare two matrices and returns true if both matrices are equal, otherwise false.

Parameters

a_matrix

Matrix to compare with.

Returns

true if elements of both matrices are equal, otherwise false.

void chai3d::cMatrix3d::add ( const cMatrix3d &  a_matrix )

inline

This method computes the addition of this matrix with a matrix passed as argument.
The result is stored in this matrix.

this = this + a_matrix

Parameters

a_matrix

Input matrix.

void chai3d::cMatrix3d::addr ( const cMatrix3d &  a_matrix, cMatrix3d &  a_result  ) const

inline

This method computes the addition of this matrix with a matrix passed as argument.
The result is stored is the result matrix a_result that is passed as argument.

a_result = this + a_matrix

Parameters

a_matrix	Input matrix.
a_result	Result of operation.

void chai3d::cMatrix3d::sub ( const cMatrix3d &  a_matrix )

inline

This method computes the subtraction of this matrix with a matrix passed as argument.
The result is stored in this matrix.

this = this - a_matrix

Parameters

a_matrix

Input matrix.

void chai3d::cMatrix3d::subr ( const cMatrix3d &  a_matrix, cMatrix3d &  a_result  ) const

inline

This method computes the subtraction of this matrix with a matrix passed as argument.
The result is stored is the result matrix a_result that is passed as argument.

a_result = this - a_matrix

Parameters

a_matrix	Input matrix.
a_result	Result of operation.

void chai3d::cMatrix3d::mul ( const cMatrix3d &  a_matrix )

inline

This function computes the multiplication of this matrix with a matrix a_matrix passed as argument.
The result of this operation is stored in this matrix overwriting previous values.

this = this * a_matrix

Parameters

a_matrix

Input matrix.

void chai3d::cMatrix3d::mulr ( const cMatrix3d &  a_matrix, cMatrix3d &  a_result  ) const

inline

This function computes the multiplication of this matrix with a matrix a_matrix passed as argument.
The result of this operation is stored in the result matrix a_result passed as argument.

a_result = this * a_matrix

Parameters

a_matrix	Input matrix.
a_result	Result of operation.

void chai3d::cMatrix3d::mul ( cVector3d &  a_vector ) const

inline

This function computes the multiplication of this matrix with a vector a_vector passed as argument.
The result of this operation is stored in the same vector a_vector overwriting previous values.

a_vector = this * a_vector

Parameters

a_vector

Input vector and return result.

void chai3d::cMatrix3d::mulr ( const cVector3d &  a_vector, cVector3d &  a_result  ) const

inline

This function computes the multiplication of this matrix with a vector a_vector passed as argument.
The result of this operation is stored in the result vector a_result passed as second argument.

Parameters

a_vector	Input vector
a_result	Result of operation.

double chai3d::cMatrix3d::det ( ) const

inline

This method computes and returns the determinant of this matrix.

Returns

Determinant.of matrix.

void chai3d::cMatrix3d::trans ( )

inline

This method computes the transpose of this matrix.
The result of this operation is stored in this matrix overwriting previous values.

void chai3d::cMatrix3d::transr ( cMatrix3d &  a_result ) const

inline

This method computes the transpose of this matrix.
The result of this operation is stored in the result matrix a_result matrix passed as argument.

Parameters

a_result

Output matrix.

bool chai3d::cMatrix3d::invert ( )

inline

This method computes the inverse of this matrix.
If the operation succeeds, the result is stored in this matrix.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::invertr ( cMatrix3d &  a_result ) const

inline

This method computes the inverse of this matrix.
If the operation succeeds, the result is stored in the result matrix a_result passed as argument.

Returns

true if operation succeeds, false otherwise.

void chai3d::cMatrix3d::orthogonalize ( )

inline

This method orthogonalizes this matrix so that all columns vectors are orthogonal to each other and of length 1. This method is useful if your rotation matrix has accumulated small error.

bool chai3d::cMatrix3d::setAxisAngleRotationRad ( const cVector3d &  a_axis, const double &  a_angleRad  )

inline

this method builds a rotation matrix from an input axis and angle defined in radians.
The result is stored in this matrix overwriting previous values.

Parameters

a_axis	Axis of rotation.
a_angleRad	Angle in radians.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::setAxisAngleRotationDeg ( const cVector3d &  a_axis, const double &  a_angleDeg  )

inline

This method builds a rotation matrix from an input axis and angle defined in degrees.
The result is stored in this matrix overwriting previous values.

Parameters

a_axis	Axis of rotation.
a_angleDeg	Angle in degrees.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::setAxisAngleRotationRad ( const double &  a_axisX, const double &  a_axisY, const double &  a_axisZ, const double &  a_angleRad  )

inline

This method builds a rotation matrix from an input axis and angle defined in radians.
The result is stored in this matrix overwriting previous values.

Parameters

a_axisX	Component x of axis.
a_axisY	Component y of axis.
a_axisZ	Component z of axis.
a_angleRad	Angle in radians.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::setAxisAngleRotationDeg ( const double &  a_axisX, const double &  a_axisY, const double &  a_axisZ, const double &  a_angleDeg  )

inline

This method builds a rotation matrix from an axis and angle defined in degrees.
The result is stored in this matrix overwriting previous values.

Parameters

a_axisX	Component x of axis.
a_axisY	Component y of axis.
a_axisZ	Component z of axis.
a_angleDeg	Angle in degrees.

Returns

true if operation succeeds, false otherwise.

void chai3d::cMatrix3d::setExtrinsicEulerRotationRad ( const double &  a_angle1, const double &  a_angle2, const double &  a_angle3, const cEulerOrder  a_eulerOrder  )

inline

This method builds a rotation matrix from a set of Euler angles and fixed axes of rotations.

Parameters

a_angle1	Angle in radians of the first rotation in the sequence.
a_angle2	Angle in radians of the second rotation in the sequence.
a_angle3	Angle in radians of the third rotation in the sequence.
a_eulerOrder	The order of the axes about which the rotations are to be applied.

void chai3d::cMatrix3d::setExtrinsicEulerRotationDeg ( const double &  a_angle1, const double &  a_angle2, const double &  a_angle3, const cEulerOrder  a_eulerOrder  )

inline

This method builds a rotation matrix from a set of Euler angles and fixed axes of rotations.

Parameters

a_angle1	Angle in degrees of the first rotation in the sequence.
a_angle2	Angle in degrees of the second rotation in the sequence.
a_angle3	Angle in degrees of the third rotation in the sequence.
a_eulerOrder	The order of the axes about which the rotations are to be applied.

void chai3d::cMatrix3d::setIntrinsicEulerRotationRad ( const double &  a_angle1, const double &  a_angle2, const double &  a_angle3, const cEulerOrder  a_eulerOrder  )

inline

This method builds a rotation matrix from a set of Euler angles and co-moving axes of rotations.

Parameters

a_angle1	Angle in radians of the first rotation in the sequence.
a_angle2	Angle in radians of the second rotation in the sequence.
a_angle3	Angle in radians of the third rotation in the sequence.
a_eulerOrder	The order of the axes about which the rotations are to be applied.

void chai3d::cMatrix3d::setIntrinsicEulerRotationDeg ( const double &  a_angle1, const double &  a_angle2, const double &  a_angle3, const cEulerOrder  a_eulerOrder  )

inline

This method builds a rotation matrix from a set of Euler angles and co-moving axes of rotations.

Parameters

a_angle1	Angle in degrees of the first rotation in the sequence.
a_angle2	Angle in degrees of the second rotation in the sequence.
a_angle3	Angle in degrees of the third rotation in the sequence.
a_eulerOrder	The order of the axes about which the rotations are to be applied.

bool chai3d::cMatrix3d::rotateAboutGlobalAxisRad ( const cVector3d &  a_axis, const double &  a_angleRad  )

inline

This method rotates this matrix around an axis described in global coordinates.

Parameters

a_axis	Axis of rotation.
a_angleRad	Angle in radians.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::rotateAboutGlobalAxisDeg ( const cVector3d &  a_axis, const double &  a_angleDeg  )

inline

This method rotates this matrix around an axis described in global coordinates.

Parameters

a_axis	Axis of rotation.
a_angleDeg	Angle in degrees.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::rotateAboutGlobalAxisRad ( const double &  a_axisX, const double &  a_axisY, const double &  a_axisZ, const double &  a_angleRad  )

inline

This method rotates this matrix around an axis described in global coordinates.

Parameters

a_axisX	x component of axis.
a_axisY	y component of axis.
a_axisZ	z component of axis.
a_angleRad	Angle in radians.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::rotateAboutGlobalAxisDeg ( const double &  a_axisX, const double &  a_axisY, const double &  a_axisZ, const double &  a_angleDeg  )

inline

This method rotates current matrix around an axis described in global coordinates.

Parameters

a_axisX	x component of axis.
a_axisY	y component of axis.
a_axisZ	z component of axis.
a_angleDeg	Angle in degrees.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::rotateAboutLocalAxisRad ( const cVector3d &  a_axis, const double &  a_angleRad  )

inline

This method rotates this current matrix around an axis described in local coordinates.

Parameters

a_axis	Axis of rotation.
a_angleRad	Angle in radians.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::rotateAboutLocalAxisDeg ( const cVector3d &  a_axis, const double &  a_angleDeg  )

inline

This method rotates this matrix around an axis described in local coordinates.

Parameters

a_axis	Axis of rotation.
a_angleDeg	Angle in degrees.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::rotateAboutLocalAxisRad ( const double &  a_axisX, const double &  a_axisY, const double &  a_axisZ, const double &  a_angleRad  )

inline

This method rotates this matrix around an axis described in local coordinates.

Parameters

a_axisX	x component of axis.
a_axisY	y component of axis.
a_axisZ	z component of axis.
a_angleRad	Angle in radians.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::rotateAboutLocalAxisDeg ( const double &  a_axisX, const double &  a_axisY, const double &  a_axisZ, const double &  a_angleDeg  )

inline

This method rotates this matrix around an axis described in local coordinates.

Parameters

a_axisX	x component of axis.
a_axisY	y component of axis.
a_axisZ	z component of axis.
a_angleDeg	Angle in degrees.

Returns

true if operation succeeds, false otherwise.

bool chai3d::cMatrix3d::toAxisAngle ( cVector3d &  a_axis, double &  a_angle  ) const

inline

This method converts this rotation matrix to an axis-angle representation.

Parameters

a_axis	Output axis.
a_angle	Output angle.

Returns

true if operation succeeds, false otherwise.

std::string chai3d::cMatrix3d::str ( const unsigned int  a_precision = 2 ) const

inline

This method converts this matrix to a string representation. The output springs displays the three column vectors of matrix.
The number of digits after the decimal point are set by argument a_precision.

Parameters

a_precision

Number of digits.

Returns

Converted matrix in string format.

void chai3d::cMatrix3d::operator*= ( const double &  a_val )

inline

cVector3d chai3d::cMatrix3d::operator* ( const cVector3d &  a_val )

inline

cMatrix3d chai3d::cMatrix3d::operator* ( const cMatrix3d &  a_val )

inline

void chai3d::cMatrix3d::operator*= ( const cMatrix3d &  a_val )

inline

void chai3d::cMatrix3d::operator+= ( const cMatrix3d &  a_input )

inline

void chai3d::cMatrix3d::operator-= ( const cMatrix3d &  a_input )

inline

double& chai3d::cMatrix3d::operator() ( const int  a_index0, const int  a_index1  )

inline

const double& chai3d::cMatrix3d::operator() ( const int  a_index0, const int  a_index1  ) const

inline

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The documentation for this struct was generated from the following file:

• CMatrix3d.h