deMatrix6 Class Reference

6x6 matrix classThis class consists of four 3x3 matrices. More...

#include <TaoDeMatrix6.h>

Collaboration diagram for deMatrix6:

Public Member Functions
deMatrix3 *	operator[] (const deInt row)
const deMatrix3 *	operator[] (const deInt row) const
DE_MATH_API deFloat &	elementAt (const deInt i, const deInt j)
DE_MATH_API const deFloat &	elementAt (const deInt i, const deInt j) const
DE_MATH_API void	operator= (const deMatrix6 &m)
	this = m More...
DE_MATH_API void	zero ()
	this = zero matrix More...
DE_MATH_API void	identity ()
	this = identity matrix More...
DE_MATH_API void	negate (const deMatrix6 &m)
	this = -m More...
DE_MATH_API void	add (const deMatrix6 &m1, const deMatrix6 &m2)
	this = m1 + m2 More...
DE_MATH_API void	subtract (const deMatrix6 &m1, const deMatrix6 &m2)
	this = m1 - m2 More...
DE_MATH_API void	multiply (const deMatrix6 &m, const deFloat s)
	this[i] = m[i] * s More...
DE_MATH_API void	operator+= (const deMatrix6 &m)
	this += m More...
DE_MATH_API void	operator-= (const deMatrix6 &m)
	this -= m More...
DE_MATH_API void	operator*= (const deFloat s)
	this[i] -= s More...
DE_MATH_API void	transpose (const deMatrix6 &m)
	this = m^T More...
void	inverse (const deMatrix6 &m)
	this = m^-1 More...
void	inverseSPD (const deMatrix6 &m)
	this = m^-1 where m is SPD More...
void	ludecomp (const deMatrix6 &m)
	this = LU decomposition of m More...
void	ludecompSPD (const deMatrix6 &m)
	this = LU decomposition of m where m is SPD More...
void	multiply (const deMatrix6 &m1, const deMatrix6 &m2)
	this = m1 * m2 More...
void	transposedMultiply (const deMatrix6 &m1, const deMatrix6 &m2)
	this = m1^T * m2 More...
void	multiplyTransposed (const deMatrix6 &m1, const deMatrix6 &m2)
	this = m1 * m2^T More...
void	multiplyTransposed (const deVector6 &v1, const deVector6 &v2)
	this = v1 * v2^T More...
void	similarityXform (const deMatrix6 &L, const deMatrix6 &I)
	this = L * I * L^T : I is symmetric More...
void	similarityXformT (const deMatrix6 &L, const deMatrix6 &I)
	this = L^T * I * L : I is symmetric More...
Spatial transformation only
DE_MATH_API void	set (const deTransform &t)
	this = X where X = [R 0; dxR R] More...
void	xform (const deTransform &t, const deMatrix6 &m)
	this = X * m More...
void	similarityRform (const deTransform &t, const deMatrix6 &L)
	this = Li = R Li+1 Rt : L symmetric More...
void	similarityXform (const deTransform &t, const deMatrix6 &I)
	this = Ii = X Ii+1 Xt : I symmetric More...
void	similarityXformT (const deTransform &t, const deMatrix6 &I)
	this = Ii+1 = Xt Ii X : I symmetric More...
void	similarityXformInv (const deTransform &t, const deMatrix6 &I)
	this = Li+1 = Xinv Li Xinvt : L symmetric More...

Private Attributes
deMatrix3	_mat3 [4]

Detailed Description

6x6 matrix class

This class consists of four 3x3 matrices.

Remarks

spatial matrix representing translational part and rotational part

See Also

deMatrix3

Member Function Documentation

DE_MATH_API void deMatrix6::add	(	const deMatrix6 &	m1,
		const deMatrix6 &	m2
	)

this = m1 + m2

DE_MATH_API deFloat & deMatrix6::elementAt	(	const deInt	i,
		const deInt	j
	)

Returns

element at (i,j)

DE_MATH_API const deFloat & deMatrix6::elementAt	(	const deInt	i,
		const deInt	j
	)		const

Returns

element at (i,j)

DE_MATH_API void deMatrix6::identity

(

)

this = identity matrix

void deMatrix6::inverse

(

const deMatrix6 &

m

)

this = m^-1

void deMatrix6::inverseSPD

(

const deMatrix6 &

m

)

this = m^-1 where m is SPD

void deMatrix6::ludecomp

(

const deMatrix6 &

m

)

this = LU decomposition of m

void deMatrix6::ludecompSPD

(

const deMatrix6 &

m

)

this = LU decomposition of m where m is SPD

DE_MATH_API void deMatrix6::multiply	(	const deMatrix6 &	m,
		const deFloat	s
	)

this[i] = m[i] * s

void deMatrix6::multiply	(	const deMatrix6 &	m1,
		const deMatrix6 &	m2
	)

this = m1 * m2

void deMatrix6::multiplyTransposed	(	const deMatrix6 &	m1,
		const deMatrix6 &	m2
	)

this = m1 * m2^T

void deMatrix6::multiplyTransposed	(	const deVector6 &	v1,
		const deVector6 &	v2
	)

this = v1 * v2^T

DE_MATH_API void deMatrix6::negate

(

const deMatrix6 &

m

)

this = -m

DE_MATH_API void deMatrix6::operator*=

(

const deFloat

s

)

this[i] -= s

DE_MATH_API void deMatrix6::operator+=

(

const deMatrix6 &

m

)

this += m

DE_MATH_API void deMatrix6::operator-=

(

const deMatrix6 &

m

)

this -= m

DE_MATH_API void deMatrix6::operator=

(

const deMatrix6 &

m

)

this = m

deMatrix3* deMatrix6::operator[] ( const deInt  row )

inline

Returns

row

const deMatrix3* deMatrix6::operator[] ( const deInt  row ) const

inline

Returns

row

DE_MATH_API void deMatrix6::set

(

const deTransform &

t

)

this = X where X = [R 0; dxR R]

void deMatrix6::similarityRform	(	const deTransform &	t,
		const deMatrix6 &	L
	)

this = Li = R Li+1 Rt : L symmetric

void deMatrix6::similarityXform	(	const deMatrix6 &	L,
		const deMatrix6 &	I
	)

this = L * I * L^T : I is symmetric

void deMatrix6::similarityXform	(	const deTransform &	t,
		const deMatrix6 &	I
	)

this = Ii = X Ii+1 Xt : I symmetric

void deMatrix6::similarityXformInv	(	const deTransform &	t,
		const deMatrix6 &	I
	)

this = Li+1 = Xinv Li Xinvt : L symmetric

void deMatrix6::similarityXformT	(	const deMatrix6 &	L,
		const deMatrix6 &	I
	)

this = L^T * I * L : I is symmetric

void deMatrix6::similarityXformT	(	const deTransform &	t,
		const deMatrix6 &	I
	)

this = Ii+1 = Xt Ii X : I symmetric

DE_MATH_API void deMatrix6::subtract	(	const deMatrix6 &	m1,
		const deMatrix6 &	m2
	)

this = m1 - m2

DE_MATH_API void deMatrix6::transpose

(

const deMatrix6 &

m

)

this = m^T

void deMatrix6::transposedMultiply	(	const deMatrix6 &	m1,
		const deMatrix6 &	m2
	)

this = m1^T * m2

void deMatrix6::xform	(	const deTransform &	t,
		const deMatrix6 &	m
	)

this = X * m

DE_MATH_API void deMatrix6::zero

(

)

this = zero matrix

---

The documentation for this class was generated from the following files:

• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeMatrix6.h
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeMatrix6.cpp
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/matrix/TaoDeMatrix6Inl.h