Matrix3d (Artisynth API documentation)

java.lang.Object
- maspack.matrix.MatrixBase
- - maspack.matrix.DenseMatrixBase
  - - maspack.matrix.Matrix3dBase
    - - maspack.matrix.Matrix3d

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, VectorObject<Matrix3d>, Clonable, Scannable

Direct Known Subclasses:

Matrix3x3Block
```
public class Matrix3d
extends Matrix3dBase
implements VectorObject<Matrix3d>
```
A general 3 x 3 matrix with the elements stored as explicit fields.

See Also:

Serialized Form

Nested Class Summary
- Nested classes/interfaces inherited from interface maspack.matrix.Matrix
  Matrix.Partition, Matrix.WriteFormat

Field Summary

Fields
Modifier and Type Field and Description

static Matrix3d IDENTITY
Global identity matrix.

static Matrix3d ZERO
Global zero matrix.
- Fields inherited from class maspack.matrix.Matrix3dBase
  m00, m01, m02, m10, m11, m12, m20, m21, m22
- Fields inherited from interface maspack.matrix.Matrix
  INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Fields
Modifier and Type	Field and Description
`static Matrix3d`	`IDENTITY` Global identity matrix.
`static Matrix3d`	`ZERO` Global zero matrix.

Constructor Summary

Constructors
Constructor and Description
`Matrix3d()` Creates a matrix and initializes it to zero.
`Matrix3d(double[] vals)` Creates a matrix and initializes its elements from an array of values.
`Matrix3d(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)` Creates a matrix and initializes its elements from the specified values.
`Matrix3d(Matrix M)` Creates a matrix and initializes its elements to those of the matrix M.
`Matrix3d(Matrix3dBase M)` Creates a matrix and initializes its elements to those of the matrix M.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`add(Matrix3dBase M1)` Adds this matrix to M1 and places the result in this matrix.
`void`	`add(Matrix3dBase M1, Matrix3dBase M2)` Adds matrix M1 to M2 and places the result in this matrix.
`void`	`addDiagonal(double s)` Adds s to the diagonal elements of this matrix.
`void`	`addObj(Matrix3d M1)` Adds `v1` to this vector.
`void`	`addOuterProduct(double x0, double y0, double z0, double x1, double y1, double z1)` Adds an outer product to this matrix.
`void`	`addOuterProduct(Vector3d v0, Vector3d v1)` Adds an outer product to this matrix.
`void`	`addScaledOuterProduct(double s, Vector3d v)` Adds a scaled outer product to this matrix.
`void`	`addScaledOuterProduct(double s, Vector3d v0, Vector3d v1)` Adds a scaled outer product to this matrix.
`Matrix3d`	`clone()`
`void`	`crossProduct(Matrix3dBase M, Vector3d v)` Computes the cross product of each row of M with v and places the result in this matrix.
`void`	`crossProduct(Vector3d v, Matrix3dBase M)` Computes the cross product of v with each column of M and places the result in this matrix.
`boolean`	`epsilonEquals(Matrix3d M1, double tol)` Returns true if the components of this vector are equal to those of `v1`, within the tolerance `tol`.
`void`	`factorQR(Matrix3d Q, Matrix3d R)` Computes the QR decompostion for this matrix, for which
`double`	`fastInvert(Matrix3dBase M)` Quickly inverts the matrix M using the determinant formula and returns the computed determinant.
`void`	`inverseTransform(RotationMatrix3d R)` Applies an inverse rotational transformation R to this matrix, in place.
`void`	`inverseTransform(RotationMatrix3d R, Matrix3dBase M)` Applies an inverse rotational transformation R to a matrix M, and place the result in this matrix.
`boolean`	`invert()` Inverts this matrix in place, returning false if the matrix is detected to be singular.
`boolean`	`invert(Matrix3dBase M)` Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular.
`static void`	`main(java.lang.String[] args)`
`void`	`mul(Matrix3dBase M1)` Multiplies this matrix by M1 and places the result in this matrix.
`void`	`mul(Matrix3dBase M1, Matrix3dBase M2)` Multiplies matrix M1 by M2 and places the result in this matrix.
`void`	`mulCols(double d00, double d11, double d22)` Multiples the columns of this matrix by the values specified by `d00`, `d11`, and `d22` and places the result in this matrix.
`void`	`mulCols(Vector3d diag)` Multiples the columns of this matrix by the values specified by `diag` and places the result in this matrix.
`boolean`	`mulInverse(Matrix3dBase M1)` Multiplies this matrix by the inverse of M1 and places the result in this matrix.
`boolean`	`mulInverseBoth(Matrix3dBase M1, Matrix3dBase M2)` Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.
`boolean`	`mulInverseLeft(Matrix3dBase M1, Matrix3dBase M2)` Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.
`boolean`	`mulInverseRight(Matrix3dBase M1, Matrix3dBase M2)` Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.
`void`	`mulRows(double d00, double d11, double d22)` Multiples the rows of this matrix by the values specified by `d00`, `d11`, and `d22` and places the result in this matrix.
`void`	`mulRows(Vector3d diag)` Multiples the rows of this matrix by the values specified by `diag` and places the result in this matrix.
`void`	`mulTranspose(Matrix3dBase M1)` Multiplies this matrix by the transpose of M1 and places the result in this matrix.
`void`	`mulTransposeBoth(Matrix3dBase M1, Matrix3dBase M2)` Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.
`void`	`mulTransposeLeft(Matrix3dBase M1, Matrix3dBase M2)` Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.
`void`	`mulTransposeRight(Matrix3dBase M1, Matrix3dBase M2)` Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.
`void`	`negate(Matrix3dBase M1)` Sets this matrix to the negative of M1.
`void`	`outerProduct(Vector3d v1, Vector3d v2)` Sets this matrix to the outer product of the two vectors v1 and v2.
`void`	`permuteColumns(int[] permutation)` Rearrange the columns of this matrix according to the specified permutation, such that each column j is replaced by column permutation[j].
`void`	`permuteColumns(int col0, int col1, int col2)` Rearrange the columns of this matrix according to the specified permutation.
`void`	`permuteRows(int[] permutation)` Rearrange the rows of this matrix according to the specified permutation, such that each row i is replaced by row permutation[i].
`void`	`permuteRows(int row0, int row1, int row2)` Rearrange the rows of this matrix according to the specified permutation.
`void`	`scale(double s)` Scales the elements of this matrix by `s`.
`void`	`scale(double s, Matrix3dBase M1)` Scales the elements of matrix M1 by `s` and places the results in this matrix.
`void`	`scaledAdd(double s, Matrix3dBase M1)` Computes s M1 and adds the result to this matrix.
`void`	`scaledAdd(double s, Matrix3dBase M1, Matrix3dBase M2)` Computes s M1 + M2 and places the result in this matrix.
`void`	`scaledAddObj(double s, Matrix3d M1)` Scales `v1` by `s` and adds it to this vector.
`void`	`scaleObj(double s)` Scales this vector by `s`.
`void`	`set(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)` Sets the values of this matrix.
`void`	`set(Matrix3d M1)` Sets this vector to `v1`
`void`	`setColumns(Vector3d v0, Vector3d v1, Vector3d v2)` Sets the columns of this matrix to the vectors v0, v1, and v2.
`void`	`setDiagonal(double s)` Sets the diagonal elements of this matrix to s.
`void`	`setDiagonal(double[] vals)` Sets this matrix to a diagonal matrix whose values are specified by the array vals.
`void`	`setDiagonal(double m00, double m11, double m22)` Sets this matrix to a diagonal matrix whose values are specified.
`void`	`setDiagonal(Vector3d diag)` Sets this matrix to a diagonal matrix whose values are specified by diag.
`void`	`setRandom()` Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
`void`	`setRandom(double lower, double upper)` Sets the elements of this matrix to uniformly distributed random values in a specified range.
`void`	`setRandom(double lower, double upper, java.util.Random generator)` Sets the elements of this matrix to uniformly distributed random values in a specified range, using a supplied random number generator.
`void`	`setRows(Vector3d v0, Vector3d v1, Vector3d v2)` Sets the rows of this matrix to the vectors v0, v1, and v2.
`void`	`setSkewSymmetric(Vector3d v)` Sets this matrix to the skew-symmetric matrix of vector v
`void`	`setSymmetric(Matrix3dBase M1)` Sets this matrix to the symmetric component of matrix M1
`void`	`setZero()` Sets the elements of this matrix to zero.
`void`	`sub(Matrix3dBase M1)` Subtracts this matrix from M1 and places the result in this matrix.
`void`	`sub(Matrix3dBase M1, Matrix3dBase M2)` Subtracts matrix M1 from M2 and places the result in this matrix.
`void`	`transform(RotationMatrix3d R)` Applies a rotational transformation R to this matrix, in place.
`void`	`transform(RotationMatrix3d R, Matrix3dBase M)` Applies a rotational transformation R to a matrix M, and place the result in this matrix.
`void`	`transpose(Matrix3dBase M1)` Sets this matrix to the transpose of M

Methods inherited from class maspack.matrix.Matrix3dBase
colSize, determinant, epsilonEquals, equals, factorQR, frobeniusNorm, get, get, getColumn, getColumn, getColumn, getRow, getRow, getRow, infinityNorm, isIdentity, isSymmetric, mul, mul, mul, mulAdd, mulAdd, mulInverse, mulInverse, mulInverseTranspose, mulInverseTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeLeftAdd, mulTransposeRightAdd, negate, negateColumn, negateRow, oneNorm, orthogonalDeterminant, rowSize, scaleColumn, scaleRow, set, set, set, set, setColumn, setColumn, setIdentity, setRow, setRow, solve, solveTranspose, trace, transpose

Methods inherited from class maspack.matrix.DenseMatrixBase
add, checkConsistency, set, set, set, setCCSValues, setColumn, setCRSValues, setRow, setSubMatrix

Methods inherited from class maspack.matrix.MatrixBase
containsNaN, epsilonEquals, equals, frobeniusNormSquared, get, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getDefaultFormat, getRow, getSize, getSubMatrix, hasNaN, idString, isFixedSize, isWritable, maxNorm, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, scan, setCRSValues, setDefaultFormat, setSize, toString, toString, toString, write, write, write, write, write, write, write, writeToFile

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface maspack.matrix.VectorObject
getThreeVectorValue

Methods inherited from interface maspack.util.Scannable
isWritable, scan, write

Methods inherited from interface maspack.matrix.Matrix
epsilonEquals, equals, frobeniusNormSquared, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getRow, getSize, getSubMatrix, isFixedSize, maxNorm, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, setSize, toString, toString, write, write, write

- Field Detail
  - IDENTITY
```
public static final Matrix3d IDENTITY
```
    Global identity matrix. Should not be modified.
  - ZERO
```
public static final Matrix3d ZERO
```
    Global zero matrix. Should not be modified.
- Constructor Detail
  - Matrix3d
```
public Matrix3d()
```
    Creates a matrix and initializes it to zero.
  - Matrix3d
```
public Matrix3d(Matrix M)
```
    Creates a matrix and initializes its elements to those of the matrix M.
    
    Parameters:
    
    M - matrix object to be copied.
  - Matrix3d
```
public Matrix3d(double[] vals)
```
    Creates a matrix and initializes its elements from an array of values.
    
    Parameters:
    
    vals - element values for the matrix, with element (i,j) stored at location i*3+j
  - Matrix3d
```
public Matrix3d(double m00,
                double m01,
                double m02,
                double m10,
                double m11,
                double m12,
                double m20,
                double m21,
                double m22)
```
    Creates a matrix and initializes its elements from the specified values.
    
    Parameters:
    
    m00 - element (0,0)
    
    m01 - element (0,1)
    
    m02 - element (0,2)
    
    m10 - element (1,0)
    
    m11 - element (1,1)
    
    m12 - element (1,2)
    
    m20 - element (2,0)
    
    m21 - element (2,1)
    
    m22 - element (2,2)
  - Matrix3d
```
public Matrix3d(Matrix3dBase M)
```
    Creates a matrix and initializes its elements to those of the matrix M.
    
    Parameters:
    
    M - matrix object to be copied.
- Method Detail
  - setColumns
```
public void setColumns(Vector3d v0,
                       Vector3d v1,
                       Vector3d v2)
```
    Sets the columns of this matrix to the vectors v0, v1, and v2.
    
    Parameters:
    
    v0 - values for the first column
    
    v1 - values for the second column
    
    v2 - values for the third column
  - set
```
public void set(double m00,
                double m01,
                double m02,
                double m10,
                double m11,
                double m12,
                double m20,
                double m21,
                double m22)
```
    Sets the values of this matrix.
    
    Parameters:
    
    m00 - element (0,0)
    
    m01 - element (0,1)
    
    m02 - element (0,2)
    
    m10 - element (1,0)
    
    m11 - element (1,1)
    
    m12 - element (1,2)
    
    m20 - element (2,0)
    
    m21 - element (2,1)
    
    m22 - element (2,2)
  - setRows
```
public void setRows(Vector3d v0,
                    Vector3d v1,
                    Vector3d v2)
```
    Sets the rows of this matrix to the vectors v0, v1, and v2.
    
    Parameters:
    
    v0 - values for the first row
    
    v1 - values for the second row
    
    v2 - values for the third row
  - mul
```
public void mul(Matrix3dBase M1)
```
    Multiplies this matrix by M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - mul
```
public void mul(Matrix3dBase M1,
                Matrix3dBase M2)
```
    Multiplies matrix M1 by M2 and places the result in this matrix.
    
    Overrides:
    
    mul in class Matrix3dBase
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - mulTranspose
```
public void mulTranspose(Matrix3dBase M1)
```
    Multiplies this matrix by the transpose of M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - mulTransposeLeft
```
public void mulTransposeLeft(Matrix3dBase M1,
                             Matrix3dBase M2)
```
    Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - mulTransposeRight
```
public void mulTransposeRight(Matrix3dBase M1,
                              Matrix3dBase M2)
```
    Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - mulTransposeBoth
```
public void mulTransposeBoth(Matrix3dBase M1,
                             Matrix3dBase M2)
```
    Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - mulInverse
```
public boolean mulInverse(Matrix3dBase M1)
```
    Multiplies this matrix by the inverse of M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
    
    Returns:
    
    false if M1 is singular
  - mulInverseRight
```
public boolean mulInverseRight(Matrix3dBase M1,
                               Matrix3dBase M2)
```
    Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
    
    Returns:
    
    false if M2 is singular
  - mulInverseLeft
```
public boolean mulInverseLeft(Matrix3dBase M1,
                              Matrix3dBase M2)
```
    Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
    
    Returns:
    
    false if M1 is singular
  - mulInverseBoth
```
public boolean mulInverseBoth(Matrix3dBase M1,
                              Matrix3dBase M2)
```
    Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
    
    Returns:
    
    false if M1 or M2 is singular
  - mulRows
```
public void mulRows(Vector3d diag)
```
    Multiples the rows of this matrix by the values specified by diag and places the result in this matrix. This is equivalent to pre-multiplying this matrix by a diagonal matrix whose (diagonal) elements are specified by diag.
    
    Parameters:
    
    diag - specifies the row multipliers
  - mulRows
```
public void mulRows(double d00,
                    double d11,
                    double d22)
```
    Multiples the rows of this matrix by the values specified by d00, d11, and d22 and places the result in this matrix. This is equivalent to pre-multiplying this matrix by a diagonal matrix with the specified diagonal elements.
    
    Parameters:
    
    d00 - multiplier for the first row
    
    d11 - multiplier for the second row
    
    d22 - multiplier for the third row
  - mulCols
```
public void mulCols(Vector3d diag)
```
    Multiples the columns of this matrix by the values specified by diag and places the result in this matrix. This is equivalent to post-multiplying this matrix by a diagonal matrix whose (diagonal) elements are specified by diag.
    
    Parameters:
    
    diag - specifies the column multipliers
  - mulCols
```
public void mulCols(double d00,
                    double d11,
                    double d22)
```
    Multiples the columns of this matrix by the values specified by d00, d11, and d22 and places the result in this matrix. This is equivalent to post-multiplying this matrix by a diagonal matrix with the specified diagonal elements.
    
    Parameters:
    
    d00 - multiplier for the first column
    
    d11 - multiplier for the second column
    
    d22 - multiplier for the third column
  - add
```
public void add(Matrix3dBase M1,
                Matrix3dBase M2)
```
    Adds matrix M1 to M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - add
```
public void add(Matrix3dBase M1)
```
    Adds this matrix to M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - sub
```
public void sub(Matrix3dBase M1,
                Matrix3dBase M2)
```
    Subtracts matrix M1 from M2 and places the result in this matrix.
    
    Parameters:
    
    M1 - left-hand matrix
    
    M2 - right-hand matrix
  - sub
```
public void sub(Matrix3dBase M1)
```
    Subtracts this matrix from M1 and places the result in this matrix.
    
    Parameters:
    
    M1 - right-hand matrix
  - scale
```
public void scale(double s)
```
    Scales the elements of this matrix by s.
    
    Parameters:
    
    s - scaling factor
  - scale
```
public void scale(double s,
                  Matrix3dBase M1)
```
    Scales the elements of matrix M1 by s and places the results in this matrix.
    
    Parameters:
    
    s - scaling factor
    
    M1 - matrix to be scaled
  - scaledAdd
```
public void scaledAdd(double s,
                      Matrix3dBase M1,
                      Matrix3dBase M2)
```
    Computes s M1 + M2 and places the result in this matrix.
    
    Parameters:
    
    s - scaling factor
    
    M1 - matrix to be scaled
    
    M2 - matrix to be added
  - scaledAdd
```
public void scaledAdd(double s,
                      Matrix3dBase M1)
```
    Computes s M1 and adds the result to this matrix.
    
    Parameters:
    
    s - scaling factor
    
    M1 - matrix to be scaled and added
  - negate
```
public void negate(Matrix3dBase M1)
```
    Sets this matrix to the negative of M1.
    
    Parameters:
    
    M1 - matrix to negate
  - transpose
```
public void transpose(Matrix3dBase M1)
```
    Sets this matrix to the transpose of M
    
    Parameters:
    
    M1 - matrix to take the transpose of
  - setZero
```
public void setZero()
```
    Sets the elements of this matrix to zero.
    
    Specified by:
    
    setZero in interface VectorObject<Matrix3d>
  - setRandom
```
public void setRandom()
```
    Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
    
    Overrides:
    
    setRandom in class DenseMatrixBase
  - setRandom
```
public void setRandom(double lower,
                      double upper)
```
    Sets the elements of this matrix to uniformly distributed random values in a specified range.
    
    Parameters:
    
    lower - lower random value (inclusive)
    
    upper - upper random value (exclusive)
  - setRandom
```
public void setRandom(double lower,
                      double upper,
                      java.util.Random generator)
```
    Sets the elements of this matrix to uniformly distributed random values in a specified range, using a supplied random number generator.
    
    Parameters:
    
    lower - lower random value (inclusive)
    
    upper - upper random value (exclusive)
    
    generator - random number generator
  - invert
```
public boolean invert()
```
    Inverts this matrix in place, returning false if the matrix is detected to be singular. The inverse is computed using an unrolled LU decomposition with partial pivoting.
    
    Overrides:
    
    invert in class Matrix3dBase
  - fastInvert
```
public double fastInvert(Matrix3dBase M)
```
    Quickly inverts the matrix M using the determinant formula and returns the computed determinant. If the determinant is 0, no inversion is performed.
    
    Parameters:
    
    M - matrix to invert
    
    Returns:
    
    determinant of M
  - invert
```
public boolean invert(Matrix3dBase M)
```
    Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular. The inverse is computed using an unrolled LU decomposition with partial pivoting.
    
    Parameters:
    
    M - matrix to invert
    
    Returns:
    
    false if M is singular
  - setDiagonal
```
public void setDiagonal(Vector3d diag)
```
    Sets this matrix to a diagonal matrix whose values are specified by diag.
    
    Parameters:
    
    diag - diagonal values
  - setDiagonal
```
public void setDiagonal(double[] vals)
```
    Sets this matrix to a diagonal matrix whose values are specified by the array vals.
    
    Parameters:
    
    vals - diagonal values
  - setDiagonal
```
public void setDiagonal(double m00,
                        double m11,
                        double m22)
```
    Sets this matrix to a diagonal matrix whose values are specified.
    
    Parameters:
    
    m00 - first diagonal value
    
    m11 - second diagonal value
    
    m22 - third diagonal value
  - setDiagonal
```
public void setDiagonal(double s)
```
    Sets the diagonal elements of this matrix to s.
    
    Parameters:
    
    s - value for each diagonal element
  - addDiagonal
```
public void addDiagonal(double s)
```
    Adds s to the diagonal elements of this matrix.
    
    Parameters:
    
    s - value to add to the diagonal
  - setSymmetric
```
public void setSymmetric(Matrix3dBase M1)
```
    Sets this matrix to the symmetric component of matrix M1
  - setSkewSymmetric
```
public void setSkewSymmetric(Vector3d v)
```
    Sets this matrix to the skew-symmetric matrix of vector v
  - outerProduct
```
public void outerProduct(Vector3d v1,
                         Vector3d v2)
```
    Sets this matrix to the outer product of the two vectors v1 and v2.
    
    Parameters:
    
    v1 - first vector
    
    v2 - second vector
  - addOuterProduct
```
public void addOuterProduct(double x0,
                            double y0,
                            double z0,
                            double x1,
                            double y1,
                            double z1)
```
    Adds an outer product to this matrix. The outer product is formed from two vectors whose coordinates are given as arguments.
    
    Parameters:
    
    x0 - first vector x coordinate
    
    y0 - first vector y coordinate
    
    z0 - first vector z coordinate
    
    x1 - second vector x coordinate
    
    y1 - second vector y coordinate
    
    z1 - second vector z coordinate
  - addOuterProduct
```
public void addOuterProduct(Vector3d v0,
                            Vector3d v1)
```
    Adds an outer product to this matrix. The outer product is formed from two vectors are given as arguments.
    
    Parameters:
    
    v0 - first vector
    
    v1 - second vector
  - addScaledOuterProduct
```
public void addScaledOuterProduct(double s,
                                  Vector3d v0,
                                  Vector3d v1)
```
    Adds a scaled outer product to this matrix. The outer product is formed from two vectors are given as arguments, and takes the form
```
        T
 s v1 v2
 
```
    Parameters:
    
    s - scaling factor
    
    v0 - first vector
    
    v1 - second vector
  - addScaledOuterProduct
```
public void addScaledOuterProduct(double s,
                                  Vector3d v)
```
    Adds a scaled outer product to this matrix. The outer product is formed from the single vector v and takes the form
```
      T
 s v v
 
```
    The product is hence symmetric.
    Parameters:
    
    s - scaling factor
    
    v - vector used to form outer product
  - crossProduct
```
public void crossProduct(Vector3d v,
                         Matrix3dBase M)
```
    Computes the cross product of v with each column of M and places the result in this matrix. This is equivalent to computing
```
 this = [v] M
 
```
    Parameters:
    
    v - first cross product argument
    
    M - matrix whose columns supply the second cross product argument
  - crossProduct
```
public void crossProduct(Matrix3dBase M,
                         Vector3d v)
```
    Computes the cross product of each row of M with v and places the result in this matrix. This is equivalent to computing
```
 this = M [v]
 
```
    Parameters:
    
    M - matrix whose rows supply the first cross product argument
    
    v - second cross product argument
  - permuteColumns
```
public void permuteColumns(int col0,
                           int col1,
                           int col2)
```
    Rearrange the columns of this matrix according to the specified permutation. In particular, column 0 is set to the original value of column col0, column 1 is set to the original value of column col1, etc. If any index value is out of range, the associated column is left unchanged.
    
    Parameters:
    
    col0 - index of the original column which is to replace column 0
    
    col1 - index of the original column which is to replace column 1
    
    col2 - index of the original column which is to replace column 2
  - permuteColumns
```
public void permuteColumns(int[] permutation)
```
    Rearrange the columns of this matrix according to the specified permutation, such that each column j is replaced by column permutation[j]. If any index value is out of range, the associated column is left unchanged.
    
    Parameters:
    
    permutation - describes the column exchanges
    
    Throws:
    
    ImproperSizeException - if the length of permutation is less than 3
  - permuteRows
```
public void permuteRows(int row0,
                        int row1,
                        int row2)
```
    Rearrange the rows of this matrix according to the specified permutation. In particular, row 0 is set to the original value of row row0, row 1 is set to the original value of row row1, etc. If any index value is out of range, the associated row is left unchanged.
    
    Parameters:
    
    row0 - index of the original row which is to replace row 0
    
    row1 - index of the original row which is to replace row 1
    
    row2 - index of the original row which is to replace row 2
  - permuteRows
```
public void permuteRows(int[] permutation)
```
    Rearrange the rows of this matrix according to the specified permutation, such that each row i is replaced by row permutation[i]. If any index value is out of range, the associated row is left unchanged.
    
    Parameters:
    
    permutation - describes the row exchanges
    
    Throws:
    
    ImproperSizeException - if the length of permutation is less than 3.
  - transform
```
public void transform(RotationMatrix3d R)
```
    Applies a rotational transformation R to this matrix, in place. This is equivalent to forming the product
```
    R M R^T
 
```
    where M is this matrix.
    Parameters:
    
    R - rotational transformation matrix
  - transform
```
public void transform(RotationMatrix3d R,
                      Matrix3dBase M)
```
    Applies a rotational transformation R to a matrix M, and place the result in this matrix. This is equivalent to forming the product
```
    R M R^T
 
```
    Parameters:
    
    R - rotational transformation matrix
    
    M - matrix to transform
  - inverseTransform
```
public void inverseTransform(RotationMatrix3d R)
```
    Applies an inverse rotational transformation R to this matrix, in place. This is equivalent to forming the product
```
    R^T M R
 
```
    where M is this matrix.
    Parameters:
    
    R - rotational transformation matrix
  - inverseTransform
```
public void inverseTransform(RotationMatrix3d R,
                             Matrix3dBase M)
```
    Applies an inverse rotational transformation R to a matrix M, and place the result in this matrix. This is equivalent to forming the product
```
    R^T M R
 
```
    Overrides:
    
    inverseTransform in class Matrix3dBase
    
    Parameters:
    
    R - rotational transformation matrix
    
    M - matrix to transform
  - main
```
public static void main(java.lang.String[] args)
```
  - factorQR
```
public void factorQR(Matrix3d Q,
                     Matrix3d R)
```
    Computes the QR decompostion for this matrix, for which
```
    M = Q R
 
```
    where Q is orthogonal and R is upper triangular.
    Parameters:
    
    Q - if non-null, returns Q
    
    R - if non-null, returns R The computation is the same as that performed by the QRDecomposition class, except significantly faster.
  - clone
```
public Matrix3d clone()
```
    Specified by:
    
    clone in interface Clonable
    
    Overrides:
    
    clone in class Matrix3dBase
  - scaleObj
```
public void scaleObj(double s)
```
    Scales this vector by s.
    
    Specified by:
    
    scaleObj in interface VectorObject<Matrix3d>
  - addObj
```
public void addObj(Matrix3d M1)
```
    Adds v1 to this vector.
    
    Specified by:
    
    addObj in interface VectorObject<Matrix3d>
  - scaledAddObj
```
public void scaledAddObj(double s,
                         Matrix3d M1)
```
    Scales v1 by s and adds it to this vector.
    
    Specified by:
    
    scaledAddObj in interface VectorObject<Matrix3d>
  - set
```
public void set(Matrix3d M1)
```
    Sets this vector to v1
    
    Specified by:
    
    set in interface VectorObject<Matrix3d>
  - epsilonEquals
```
public boolean epsilonEquals(Matrix3d M1,
                             double tol)
```
    Returns true if the components of this vector are equal to those of v1, within the tolerance tol. If tol = 0, then exact equality is required.
    
    Specified by:
    
    epsilonEquals in interface VectorObject<Matrix3d>

Class Matrix3d

Nested Class Summary

Nested classes/interfaces inherited from interface maspack.matrix.Matrix

Field Summary

Fields inherited from class maspack.matrix.Matrix3dBase

Fields inherited from interface maspack.matrix.Matrix

Constructor Summary

Method Summary

Methods inherited from class maspack.matrix.Matrix3dBase

Methods inherited from class maspack.matrix.DenseMatrixBase

Methods inherited from class maspack.matrix.MatrixBase

Methods inherited from class java.lang.Object

Methods inherited from interface maspack.matrix.VectorObject

Methods inherited from interface maspack.util.Scannable

Methods inherited from interface maspack.matrix.Matrix

Field Detail

IDENTITY

ZERO

Constructor Detail

Matrix3d

Matrix3d

Matrix3d

Matrix3d

Matrix3d

Method Detail

setColumns

set

setRows

mul

mul

mulTranspose

mulTransposeLeft

mulTransposeRight

mulTransposeBoth

mulInverse

mulInverseRight

mulInverseLeft

mulInverseBoth

mulRows

mulRows

mulCols

mulCols

add

add

sub

sub

scale

scale

scaledAdd

scaledAdd

negate

transpose

setZero

setRandom

setRandom

setRandom

invert

fastInvert

invert

setDiagonal

setDiagonal

setDiagonal

setDiagonal

addDiagonal

setSymmetric

setSkewSymmetric

outerProduct

addOuterProduct

addOuterProduct

addScaledOuterProduct

addScaledOuterProduct

crossProduct

crossProduct

permuteColumns

permuteColumns

permuteRows

permuteRows

transform

transform

inverseTransform