class tmatrix

The tmatrix is a representation of a subset of 4x4 homogeneous transformation matrices.

Public Fields

double m[16]

the tmatrix's elements, stored in row-major format

static tmatrix identity

the identity tmatrix

Public Methods

tmatrix(void)

constructor for an identity tmatrix

tmatrix(const double d[16])

constructor for a tmatrix with the supplied elements

tmatrix(const float f[16])

constructor for a tmatrix with the supplied elements

tmatrix(axis a, double d)

constructor for a tmatrix representing a rotation of 'd' radians about the indicated axis.

tmatrix(const quaternion &q)

constructor for a tmatrix corresponding to the rotation represented by q

tmatrix(const quaternion &q, const triple &t)

constructor for a tmatrix corresponding to the rotation represented by 'q', followed by a translation of 't'

tmatrix(transformation t, double x, double y, double z)

constructor for a tmatrix corresponding to either a rotation or translation.

tmatrix(double rx, double ry, double rz, double xtrans, double ytrans, double ztrans)

constructor for a tmatrix equivalent to tmatrix(tmatrix::rpy, roll, pitch, yaw) multiplied by tmatrix(tmatrix::translate, xtrans, ytrans, ztrans).

void set(double d[16])

sets the tmatrix's elements to the supplied values

void set(float f[16])

sets the tmatrix's elements to the supplied values

inline double& operator()(int r, int c)

returns a reference to the element at (r, c)

inline double* operator[] (const int i)

returns a pointer to the i'th row

inline operator double *(void)

returns a pointer to the tmatrix's array

void getInverse(tmatrix &m)

computes the inverse of the tmatrix and stores it in m, assuming the tmatrix is composed purely of rotations and translations

void invert(void)

inverts the tmatrix, assuming the tmatrix is composed purely of rotations and translations

void decompose(double &rx, double &ry, double &rz, double &xtrans, double &ytrans, double &ztrans) const

decomposes a 3x3 rotation matrix into the rotation angles as specified by matrix::compose.

void decompose(matrix &r, triple &t)

decomposes the tmatrix into its rotation and translation components

void dump(double d[16]) const

copies the matrix to the supplied storage

void dump(float f[16]) const

copies the matrix elements to the supplied storage

void print(FILE* fp) const

prints the matrix to a file in a human-readable format

void write(FILE* outfile) const

prints the matrix to a file in a format readable by read().

int read(FILE* infile)

reads a matrix from a file in a format produced by write().

void getTranspose(double d[16])

returns the transpose of the tmatrix in d.

void getTranspose(float f[16])

returns the transpose of the tmatrix in d

static tmatrix inverse(const tmatrix &m)

returns the inverse of m

static double determinant(const tmatrix &m)

returns the determinant of m

tmatrix& operator*=(const tmatrix &m2)

post-multiplies the current tmatrix by m2 (eg.

tmatrix& operator=(const tmatrix &tm)

assignment operator

tmatrix& operator=(const matrix &m)

assignment operator.

tmatrix& operator=(const quaternion &q)

assignment operator.

Public Members

enum axis

enumerated type used for indicating an axis

enum transformation

enumerated type used for indicating a transformation type

Documentation

The tmatrix is a representation of a subset of 4x4 homogeneous transformation matrices. Currently, only rotation and translation transformations are supported. Scaling and skewing are not allowed because of difficulties they pose to the operations of inversion and decomposition. It is also anticipated that they will not be of tremendous utility in this application. It is possible to construct scaling and skewing matrices using the array constructors, but the invert() and decompose() functions will not work properly. This is discouraged.

double m[16]

the tmatrix's elements, stored in row-major format

enum axis

enumerated type used for indicating an axis

enum transformation

enumerated type used for indicating a transformation type

static tmatrix identity

the identity tmatrix

tmatrix(void)

constructor for an identity tmatrix

tmatrix(const double d[16])

constructor for a tmatrix with the supplied elements

tmatrix(const float f[16])

constructor for a tmatrix with the supplied elements

tmatrix(axis a, double d)

constructor for a tmatrix representing a rotation of 'd' radians about the indicated axis.

tmatrix(const quaternion &q)

constructor for a tmatrix corresponding to the rotation represented by q

tmatrix(const quaternion &q, const triple &t)

constructor for a tmatrix corresponding to the rotation represented by 'q', followed by a translation of 't'

tmatrix(transformation t, double x, double y, double z)

constructor for a tmatrix corresponding to either a rotation or translation. if 't' is tmatrix::rpy, a transformation tmatrix is constructed equivalent to rot(z, d1)*rot(x, d2)*rot(y, d3) where rot(u, v) specifies a rotation of v radians about the axis u. if mode is tmatrix::translate, then a translation tmatrix with tx = d1, ty = d2, and tz = d3 is constructed.

tmatrix(double rx, double ry, double rz, double xtrans, double ytrans, double ztrans)

constructor for a tmatrix equivalent to tmatrix(tmatrix::rpy, roll, pitch, yaw) multiplied by tmatrix(tmatrix::translate, xtrans, ytrans, ztrans).

void set(double d[16])

sets the tmatrix's elements to the supplied values

void set(float f[16])

sets the tmatrix's elements to the supplied values

inline double& operator()(int r, int c)

returns a reference to the element at (r, c)

inline double* operator[] (const int i)

returns a pointer to the i'th row

inline operator double *(void)

returns a pointer to the tmatrix's array

void getInverse(tmatrix &m)

computes the inverse of the tmatrix and stores it in m, assuming the tmatrix is composed purely of rotations and translations

void invert(void)

inverts the tmatrix, assuming the tmatrix is composed purely of rotations and translations

void decompose(double &rx, double &ry, double &rz, double &xtrans, double &ytrans, double &ztrans) const

decomposes a 3x3 rotation matrix into the rotation angles as specified by matrix::compose. The matrix must be 3x3.

void decompose(matrix &r, triple &t)

decomposes the tmatrix into its rotation and translation components

void dump(double d[16]) const

copies the matrix to the supplied storage

void dump(float f[16]) const

copies the matrix elements to the supplied storage

void print(FILE* fp) const

prints the matrix to a file in a human-readable format

void write(FILE* outfile) const

prints the matrix to a file in a format readable by read(). NOTE: some loss of precision may occur!

int read(FILE* infile)

reads a matrix from a file in a format produced by write(). NOTE: some loss of precision may occur!

void getTranspose(double d[16])

returns the transpose of the tmatrix in d.

void getTranspose(float f[16])

returns the transpose of the tmatrix in d

static tmatrix inverse(const tmatrix &m)

returns the inverse of m

static double determinant(const tmatrix &m)

returns the determinant of m

tmatrix& operator*=(const tmatrix &m2)

post-multiplies the current tmatrix by m2 (eg. *this = (*this)*m2;)

tmatrix& operator=(const tmatrix &tm)

assignment operator

tmatrix& operator=(const matrix &m)

assignment operator. if m is 3x3, then only the rotation portion of the tmatrix is copied from m and the translation portion is set to zero. m is not checked to ensure that it represents a valid rigid-body transformation.

tmatrix& operator=(const quaternion &q)

assignment operator. sets the tmatrix's rotation component to the rotation represented by q, and sets the translation component to 0.

This class has no child classes.

Friends:

tmatrix operator*(const tmatrix &m1, const tmatrix &m2)

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