matrixAux.h

Miscellaneous non-member functions for math classes.
o choleskySolve
Solves A*x = b for x, where A is a symmetric positive definite (SPD) matrix and x and b are vectors.
o choleskyInverse
computes the inverse of A and stores it in Ainv, if A is symmetric positive definite (SPD).
o getVectorFromTmatrix
returns the first 3 elements of the i'th column of m
o composeTmatrix
composes a tmatrix m from three basis vectors and a translation
o composeTmatrix
composes a tmatrix m with the given rotation and translation
o composeTmatrix
composes a tmatrix m with the given rotation and translation
o decomposeTmatrix
decomposes a tmatrix into a quaternion and translation vector
o getColumnFromJacobian
gets the linear and angular differential vectors from the indicated column of the jacobian matrix J
o putColumnIntoJacobian
puts the linear and angular differential vectors into the indicated column of the jacobian matrix J
o putColumnIntoJacobian
puts the linear differential velocities into the indicated column of the jacobian matrix J
o clearBlockInJacobian
clears an nr x nc block in J starting at (row, col)
o putBlockIntoJacobian
copies a submatrix into J starting at (row, col) in J
o computeOmega
computes the angular velocity that causes a rotation from q0 to q1 over a time dt
o makeProjectionMatrixFromTriple
creates a 3x3 projection matrix that removes components along v
o outerProduct
computes the outer product (ie.
o isNan
returns 1 if x is not a number, 0 otherwise
o isNan
returns 1 if none of x's components are NaNs, 0 otherwise
o resizeMatrix
checks to see if matrix needs to be resized; if so, does it
o resizeVector
checks to see if vector needs to be resized; if so, does it
o printVector
prints a vector with the indicated number of digits after the decimal
o printMatrix
prints a matrix with the indicated number of digits after the decimal
o printTriple
prints a triple with the indicated number of digits after the decimal
o printQuaternion
prints a quaternion with the indicated number of digits after the decimal
o PRINT_VECTOR
prints a vector and its name
o PRINT_MATRIX
prints a matrix and its name
o PRINT_TRIPLE
prints a triple and its name
o PRINT_QUATERNION
prints a quaternion and its name
o VPRINT_VECTOR
prints a vector and its name with the indicated number of digits
o VPRINT_MATRIX
prints a matrix and its name with the indicated number of digits
o VPRINT_TRIPLE
prints a triple and its name with the indicated number of digits
o VPRINT_QUATERNION
prints a quaternion and its name with the indicated number of digits
o LPRINT_VECTOR
prints a vector and its name with excessive significant digits
o LPRINT_MATRIX
prints a matrix and its name with excessive significant digits
o LPRINT_TRIPLE
prints a triple and its name with excessive significant digits
o LPRINT_QUATERNION
prints a quaternion and its name with excessive significant digits
o PRINT_TMATRIX
prints a tmatrix and its name
Miscellaneous non-member functions for math classes.

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