maspack.matrix

Class Matrix3x4

java.lang.Object

maspack.matrix.MatrixBase

maspack.matrix.DenseMatrixBase

maspack.matrix.Matrix3x4

All Implemented Interfaces:

java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, VectorObject<Matrix3x4>, Clonable, Scannable

Direct Known Subclasses:

Matrix3x4Block

public class Matrix3x4
extends DenseMatrixBase
implements VectorObject<Matrix3x4>

Implements a 3 x 4 matrix

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
double	m00
double	m01
double	m02
double	m03
double	m10
double	m11
double	m12
double	m13
double	m20
double	m21
double	m22
double	m23
static Matrix3x4	ZERO Global zero matrix.

Fields inherited from interface maspack.matrix.Matrix

INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Constructor Summary

Constructors

Constructor and Description
Matrix3x4() Creates a new Matrix3x4.

Method Summary

Modifier and Type	Method and Description
void	add(Matrix M) Adds this matrix to M and places the result in this matrix.
void	add(Matrix3x4 M) Adds the contents of a Matrix3x4 to this matrix block.
void	add(Matrix3x4 M1, Matrix3x4 M2) Computes M1 + M2 and places the result in this matrix.
void	addObj(Matrix3x4 M1) Adds v1 to this vector.
void	addSubMatrix00(Vector3d v) Adds v to the 3x1 sub-matrix starting at (0, 0).
void	addSubMatrix01(Matrix3d M) Adds M to the 3x3 sub-matrix starting at (0, 1)
Matrix3x4	clone() Creates a clone of this matrix.
int	colSize() Number of columns in the matrix associated with this transformation.
boolean	epsilonEquals(Matrix3x4 M1, double epsilon) Returns true if the components of this vector are equal to those of v1, within the tolerance tol.
boolean	equals(Matrix3x4 M1)
double	get(int i, int j) Gets a single element of this matrix.
void	getColumn(int j, double[] values) Copies a column of this matrix into an array of doubles.
void	getColumn(int j, double[] values, int off) Copies a column of this matrix into an array of doubles, starting at a specified offset.
void	getColumn(int j, Vector3d col) Copies a column of this matrix into a 3-vector.
void	getRow(int i, double[] values) Copies a row of this matrix into an array of doubles.
void	getRow(int i, double[] values, int off) Copies a row of this matrix into an array of doubles, starting at a specified offset.
void	mul(Point3d vr, Vector4d v1) Multiples this matrix by the vector v1 and places the result in vr
void	mulAdd(Matrix M1, Matrix M2) Multiplies M1 by M2 and places the result in this matrix.
static void	mulScaledTransposeRightAdd(Matrix3d MR, Matrix3x4 M1, double[] D, Matrix3x4 M2) Computes
void	mulTransposeLeftAdd(Matrix M1, Matrix M2) Multiplies M1^T by M2 and places the result in this matrix.
void	mulTransposeRightAdd(Matrix M1, Matrix M2) Multiplies M1 by M2^T and places the result in this matrix.
void	negate() Negates this matrix in place.
void	negate(Matrix3x4 M) Sets this matrix to the negative of M.
int	rowSize() Number of rows in the matrix associated with this transformation.
void	scale(double s) Scales the elements of this matrix by s.
void	scale(double s, Matrix3x4 M) Computes s M and places the result in this matrix.
void	scaledAdd(double s, Matrix M) Scales the matrix M and add the result to this matrix.
void	scaledAdd(double s, Matrix3x4 M) Computes s M and adds the result to this matrix.
void	scaledAdd(double s, Matrix3x4 M1, Matrix3x4 M2) Computes s M1 + M2 and places the result in this matrix.
void	scaledAddObj(double s, Matrix3x4 M1) Scales v1 by s and adds it to this vector.
void	scaleObj(double s) Scales this vector by s.
void	set(int i, int j, double value) Sets a single element of this matrix.
void	set(Matrix M) Sets the size and values of this matrix to those of another matrix.
void	set(Matrix3x4 M) Sets the contents of this Matrix3x4 to those of a specified block.
void	setColumn(int j, double[] values) Sets a column of this matrix from an array of doubles.
void	setColumn(int j, Vector3d col) Sets a column of this matrix to the specified 3-vector.
void	setRow(int i, double[] values) Set a row of this matrix from an array of doubles.
void	setSubMatrix00(Vector3d v) Sets the 3x1 sub-matrix starting at (0, 0) to v
void	setSubMatrix01(Matrix3d M) Sets the 3x3 sub-matrix starting at (0, 1) to M
void	setZero() Sets the elements of this matrix to zero.
void	sub(Matrix M) Subtracts this matrix from M and places the result in this matrix.
void	sub(Matrix3x4 M) Subtracts the contents of a Matrix3x4 from this matrix block.
void	sub(Matrix3x4 M1, Matrix3x4 M2) Computes M1 - M2 places the result in this matrix.
void	transpose(Matrix4x3 M) Sets this matrix to the transpose of M

Methods inherited from class maspack.matrix.DenseMatrixBase

add, checkConsistency, set, set, set, set, setCCSValues, setColumn, setCRSValues, setRandom, setRow, setSubMatrix

Methods inherited from class maspack.matrix.MatrixBase

containsNaN, determinant, epsilonEquals, equals, frobeniusNorm, frobeniusNormSquared, get, get, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getDefaultFormat, getRow, getSize, getSubMatrix, hasNaN, idString, infinityNorm, isFixedSize, isSymmetric, isWritable, maxNorm, mul, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, oneNorm, scan, scan, setCRSValues, setDefaultFormat, setSize, toString, toString, toString, trace, 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

determinant, epsilonEquals, equals, frobeniusNorm, frobeniusNormSquared, get, getCCSIndices, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getRow, getSize, getSubMatrix, infinityNorm, isFixedSize, isSymmetric, maxNorm, mul, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, oneNorm, scan, setSize, toString, toString, trace, write, write, write

Field Detail

m00

public double m00

m01

public double m01

m02

public double m02

m03

public double m03

m10

public double m10

m11

public double m11

m12

public double m12

m13

public double m13

m20

public double m20

m21

public double m21

m22

public double m22

m23

public double m23

ZERO

public static final Matrix3x4 ZERO

Global zero matrix. Should not be modified.

Constructor Detail

Matrix3x4

public Matrix3x4()

Creates a new Matrix3x4.

Method Detail

rowSize

public int rowSize()

Number of rows in the matrix associated with this transformation. This will equal the size of the output vector in mul.

Specified by:

rowSize in interface LinearTransformNd

Specified by:

rowSize in interface Matrix

Specified by:

rowSize in class MatrixBase

Returns:

number of rows

colSize

public int colSize()

Number of columns in the matrix associated with this transformation. This will equal the size of the input vector in mul.

Specified by:

colSize in interface LinearTransformNd

Specified by:

colSize in interface Matrix

Specified by:

colSize in class MatrixBase

Returns:

number of columns

get

public double get(int i,
                  int j)

Gets a single element of this matrix.

Specified by:

get in interface Matrix

Specified by:

get in class MatrixBase

Parameters:

i - element row index

j - element column index

Returns:

element value

getColumn

public void getColumn(int j,
                      double[] values)

Copies a column of this matrix into an array of doubles.

Specified by:

getColumn in interface Matrix

Overrides:

getColumn in class MatrixBase

Parameters:

j - column index

values - array into which the column is copied

getColumn

public void getColumn(int j,
                      double[] values,
                      int off)

Copies a column of this matrix into an array of doubles, starting at a specified offset.

Specified by:

getColumn in interface Matrix

Overrides:

getColumn in class MatrixBase

Parameters:

j - column index

values - array into which the column is copied

off - offset in values where copying should begin

getColumn

public void getColumn(int j,
                      Vector3d col)

Copies a column of this matrix into a 3-vector.

Parameters:

j - column index

col - 3-vector into which the column is copied

getRow

public void getRow(int i,
                   double[] values)

Copies a row of this matrix into an array of doubles.

Specified by:

getRow in interface Matrix

Overrides:

getRow in class MatrixBase

Parameters:

i - row index

values - array into which the row is copied

getRow

public void getRow(int i,
                   double[] values,
                   int off)

Copies a row of this matrix into an array of doubles, starting at a specified offset.

Specified by:

getRow in interface Matrix

Overrides:

getRow in class MatrixBase

Parameters:

i - row index

values - array into which the row is copied

off - offset in values where copying should begin

set

public void set(int i,
                int j,
                double value)

Sets a single element of this matrix.

Specified by:

set in interface DenseMatrix

Specified by:

set in class DenseMatrixBase

Parameters:

i - element row index

j - element column index

value - element value

setRow

public void setRow(int i,
                   double[] values)

Set a row of this matrix from an array of doubles.

Specified by:

setRow in interface DenseMatrix

Overrides:

setRow in class DenseMatrixBase

Parameters:

i - row index

values - array from which the row is copied

setColumn

public void setColumn(int j,
                      double[] values)

Sets a column of this matrix from an array of doubles.

Specified by:

setColumn in interface DenseMatrix

Overrides:

setColumn in class DenseMatrixBase

Parameters:

j - column index

values - array from which column values are copied

setColumn

public void setColumn(int j,
                      Vector3d col)

Sets a column of this matrix to the specified 3-vector.

Parameters:

j - column index

col - 3-vector from which the column is copied

setZero

public void setZero()

Sets the elements of this matrix to zero.

Specified by:

setZero in interface VectorObject<Matrix3x4>

set

public void set(Matrix M)

Description copied from class: DenseMatrixBase

Sets the size and values of this matrix to those of another matrix.

Specified by:

set in interface Matrix

Overrides:

set in class DenseMatrixBase

Parameters:

M - matrix whose size and values are copied

set

public void set(Matrix3x4 M)

Sets the contents of this Matrix3x4 to those of a specified block.

Specified by:

set in interface VectorObject<Matrix3x4>

Parameters:

M - matrix block providing new values

addSubMatrix00

public void addSubMatrix00(Vector3d v)

Adds v to the 3x1 sub-matrix starting at (0, 0).

Parameters:

v - values to add to the sub-matrix

addSubMatrix01

public void addSubMatrix01(Matrix3d M)

Adds M to the 3x3 sub-matrix starting at (0, 1)

Parameters:

M - values to add to the sub-matrix

setSubMatrix00

public void setSubMatrix00(Vector3d v)

Sets the 3x1 sub-matrix starting at (0, 0) to v

Parameters:

v - new sub-matrix values

setSubMatrix01

public void setSubMatrix01(Matrix3d M)

Sets the 3x3 sub-matrix starting at (0, 1) to M

Parameters:

M - new sub-matrix values

scale

public void scale(double s)

Scales the elements of this matrix by s.

Parameters:

s - scaling factor

scale

public void scale(double s,
                  Matrix3x4 M)

Computes s M and places the result in this matrix.

Parameters:

s - scaling factor

M - matrix to scale

add

public void add(Matrix M)

Adds this matrix to M and places the result in this matrix.

Parameters:

M - right-hand matrix

Throws:

ImproperSizeException - if this matrix and M have different sizes

scaledAdd

public void scaledAdd(double s,
                      Matrix M)

Scales the matrix M and add the result to this matrix.

Parameters:

s - scaling factor

M - matrix to be scaled and added

Throws:

ImproperSizeException - if this matrix and M have different sizes

add

public void add(Matrix3x4 M)

Adds the contents of a Matrix3x4 to this matrix block.

Parameters:

M - matrix block to add

add

public void add(Matrix3x4 M1,
                Matrix3x4 M2)

Computes M1 + M2 and places the result in this matrix.

Parameters:

M1 - first matrix to add

M2 - second matrix to add

scaledAdd

public void scaledAdd(double s,
                      Matrix3x4 M)

Computes s M and adds the result to this matrix.

Parameters:

s - scaling factor

M - matrix to be scaled and added

scaledAdd

public void scaledAdd(double s,
                      Matrix3x4 M1,
                      Matrix3x4 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

negate

public void negate(Matrix3x4 M)

Sets this matrix to the negative of M.

Parameters:

M - matrix to negate

negate

public void negate()

Negates this matrix in place.

sub

public void sub(Matrix M)

Subtracts this matrix from M and places the result in this matrix.

Parameters:

M - right-hand matrix

Throws:

ImproperSizeException - if this matrix and M have different sizes

sub

public void sub(Matrix3x4 M)

Subtracts the contents of a Matrix3x4 from this matrix block.

Parameters:

M - matrix block to subtract

sub

public void sub(Matrix3x4 M1,
                Matrix3x4 M2)

Computes M1 - M2 places the result in this matrix.

Parameters:

M1 - first matrix

M2 - matrix to subtract

mulAdd

public void mulAdd(Matrix M1,
                   Matrix M2)

Multiplies M1 by M2 and places the result in this matrix.

Parameters:

M1 - left matrix term

M2 - right matrix term

mulTransposeRightAdd

public void mulTransposeRightAdd(Matrix M1,
                                 Matrix M2)

Multiplies M1 by M2^T and places the result in this matrix.

Parameters:

M1 - left matrix term

M2 - right matrix term

mulTransposeLeftAdd

public void mulTransposeLeftAdd(Matrix M1,
                                Matrix M2)

Multiplies M1^T by M2 and places the result in this matrix.

Parameters:

M1 - left matrix term

M2 - right matrix term

mulScaledTransposeRightAdd

public static void mulScaledTransposeRightAdd(Matrix3d MR,
                                              Matrix3x4 M1,
                                              double[] D,
                                              Matrix3x4 M2)

Computes

M1 D M2^T

where D is a diagonal matrix, and adds the result to matrix MR.

Parameters:

MR - matrix to add result to

M1 - left matrix

D - diagonal matrix values

M2 - right matrix transpose

transpose

public void transpose(Matrix4x3 M)

Sets this matrix to the transpose of M

Parameters:

M - matrix to take the transpose of

mul

public void mul(Point3d vr,
                Vector4d v1)

Multiples this matrix by the vector v1 and places the result in vr

Parameters:

vr - result of multiplication

v1 - vector to transform

clone

public Matrix3x4 clone()

Creates a clone of this matrix.

Specified by:

clone in interface Clonable

Overrides:

clone in class java.lang.Object

scaleObj

public void scaleObj(double s)

Scales this vector by s.

Specified by:

scaleObj in interface VectorObject<Matrix3x4>

addObj

public void addObj(Matrix3x4 M1)

Adds v1 to this vector.

Specified by:

addObj in interface VectorObject<Matrix3x4>

scaledAddObj

public void scaledAddObj(double s,
                         Matrix3x4 M1)

Scales v1 by s and adds it to this vector.

Specified by:

scaledAddObj in interface VectorObject<Matrix3x4>

epsilonEquals

public boolean epsilonEquals(Matrix3x4 M1,
                             double epsilon)

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<Matrix3x4>

equals

public boolean equals(Matrix3x4 M1)