Matrix3D Class Reference

List of all members.

Public Member Functions
	Matrix3D (void)
	Matrix3D (const Point3D &eulerAngles)
	Matrix3D (const class Quaternion &q)
	Matrix3D (const class Matrix4D &m)
double &	operator() (int col, int row)
double &	index (int col, int row)
double	det (void) const
Matrix3D	operator- (void) const
Matrix3D	operator * (const Matrix3D &m) const
Matrix3D &	operator *= (const Matrix3D &m)
Matrix3D	operator+ (const Matrix3D &m) const
Matrix3D &	operator+= (const Matrix3D &m)
Matrix3D	operator- (const Matrix3D &m) const
Matrix3D &	operator-= (const Matrix3D &m)
Matrix3D	operator * (double f) const
Matrix3D &	operator *= (double f)
Matrix3D	operator/ (double f) const
Matrix3D &	operator/= (double f)
Matrix3D	transpose (void) const
Matrix3D	invert (void) const
Point3D	operator * (const Point3D &p) const
Ray3D	operator * (const Ray3D &ray) const
Point3D	toEuler (void) const
Point3D	toEuler (const Point3D &euler) const
double	squareNorm (void) const
void	SVD (Matrix3D &r1, Matrix3D &diagonal, Matrix3D &r2) const
void	Factor (Matrix3D &rot, Matrix3D &sym) const
Matrix3D	closestRotation (void) const
Matrix3D	symmetrize (void) const
Matrix3D	skewSymmetrize (void) const
Static Public Member Functions
static int	Invert (const Matrix3D &in, Matrix3D &out)
static Matrix3D	IdentityMatrix (void)
static double	SquareL2Difference (const Matrix3D &m1, const Matrix3D &m2)
static Matrix3D	Exp (const Matrix3D &m, int iter=100)
static Matrix3D	Log (const Matrix3D &m, double eps=0.0001)
static Matrix3D	SquareRoot (const Matrix3D &m, double eps=0.000001)
Public Attributes
double	m [3][3]

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Detailed Description

This class represents a 3x3 matrix.

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Constructor & Destructor Documentation

Matrix3D::Matrix3D (  void   )

This constructor generates an identity matrix

Matrix3D::Matrix3D (  const Point3D &  eulerAngles  )

This constructor generates a rotation matrix from the specified Euler angles

Matrix3D::Matrix3D (  const class Quaternion &  q  )

This constructor generates a rotation matrix from the specified quaternion

Matrix3D::Matrix3D (  const class Matrix4D &  m  )

This constructor generates a matrix from the top 3x3 matrix of the Matrix4D

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Member Function Documentation

Matrix3D Matrix3D::closestRotation (  void   )  const

This method returns the closest 3x3 rotation matrix

double Matrix3D::det (  void   )  const

This method returns the determinant of the matrix.

Matrix3D Matrix3D::Exp (  const Matrix3D &  m, int  iter = 100 )  [static]

This method returns the exponent of a matrix

void Matrix3D::Factor (  Matrix3D &  rot, Matrix3D &  sym )  const

This method factors a matrix as the product of a rotation and a symmetric matrix

Matrix3D Matrix3D::IdentityMatrix (  void   )  [static]

This static method returns the identity matrix.

double & Matrix3D::index (  int  col, int  row )

This method returns the entry of the matrix in the col-th column and the row-th row.

int Matrix3D::Invert (  const Matrix3D &  in, Matrix3D &  out )  [static]

This static method tries to invert the input matrix and write it out into the output. A value of 0 is returned if the matrix has 0 determinant.

Matrix3D Matrix3D::invert (  void   )  const

This method returns the inverse of a matrix. (Note that it does not change the entries of the current matrix.)

Matrix3D Matrix3D::Log (  const Matrix3D &  m, double  eps = 0.0001 )  [static]

This method returns the logarithm of a matrix

Ray3D Matrix3D::operator * (  const Ray3D &  ray  )  const

This method applies transformation to a ray.

Point3D Matrix3D::operator * (  const Point3D &  p  )  const

This method transforms a 3D point.

Matrix3D Matrix3D::operator * (  double  f  )  const

This method scales the entries of a matrix and returns a new matrix.

Matrix3D Matrix3D::operator * (  const Matrix3D &  m  )  const

This method multiplies two matrices and returns the product.

Matrix3D & Matrix3D::operator *= (  double  f  )

This method scales the entries of the current matrix.

Matrix3D & Matrix3D::operator *= (  const Matrix3D &  m  )

This method multiplies the current matrix (on the right) by the input matrix..

double & Matrix3D::operator() (  int  col, int  row )

This method returns the entry of the matrix in the col-th column and the row-th row.

Matrix3D Matrix3D::operator+ (  const Matrix3D &  m  )  const

This method adds two matrices and returns the sum.

Matrix3D & Matrix3D::operator+= (  const Matrix3D &  m  )

This method adds the input matrix to the current matrix.

Matrix3D Matrix3D::operator- (  const Matrix3D &  m  )  const

This method subtracts two matrices and returns the difference.

Matrix3D Matrix3D::operator- (  void   )  const

This method returns the negative of the matrix

Matrix3D & Matrix3D::operator-= (  const Matrix3D &  m  )

This method subtracts the input matrix from the current matrix.

Matrix3D Matrix3D::operator/ (  double  f  )  const

This method divides the entries of a matrix and returns a new matrix.

Matrix3D & Matrix3D::operator/= (  double  f  )

This method divides the entries of the current matrix.

Matrix3D Matrix3D::skewSymmetrize (  void   )  const

This method returns nearest skew-symmetric matrix

double Matrix3D::SquareL2Difference (  const Matrix3D &  m1, const Matrix3D &  m2 )  [static]

This method returns sum of the squares of the entries of the difference matrix.

double Matrix3D::squareNorm (  void   )  const

This method returns the sum of the squares of the matrix entries

Matrix3D Matrix3D::SquareRoot (  const Matrix3D &  m, double  eps = 0.000001 )  [static]

This method returns the square-root of a matrix

void Matrix3D::SVD (  Matrix3D &  r1, Matrix3D &  diagonal, Matrix3D &  r2 )  const

This method computes the SVD decomposition of the upper 3x3 matrix, such that r1 and r2 are rotations and the upper 3x3 matrix is equal to r1*diagonal*r2

Matrix3D Matrix3D::symmetrize (  void   )  const

This method returns nearest symmetric matrix

Point3D Matrix3D::toEuler (  const Point3D &  euler  )  const

Because the Euler angles are not unique, the following method returns the Euler angles closest to the input ones

Point3D Matrix3D::toEuler (  void   )  const

This method returns the Euler Angles of a rotation matrix

Matrix3D Matrix3D::transpose (  void   )  const

This method returns the transpose of a matrix. (Note that it does not change the entries of the current matrix.)

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Member Data Documentation

double Matrix3D::m[3][3]

The actual matrix entries

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