maspack.matrix

Class Matrix4d

java.lang.Object

maspack.matrix.MatrixBase

maspack.matrix.DenseMatrixBase

maspack.matrix.Matrix4dBase

maspack.matrix.Matrix4d

All Implemented Interfaces:

java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, VectorObject<Matrix4d>, Clonable, Scannable

Direct Known Subclasses:

Matrix4x4Block

public class Matrix4d
extends Matrix4dBase
implements VectorObject<Matrix4d>

A general 4 x 4 matrix with the elements stored as explicit fields.

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 Matrix4d	IDENTITY Global identity matrix.
static Matrix4d	ZERO Global zero matrix.

Fields inherited from class maspack.matrix.Matrix4dBase

m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33

Fields inherited from interface maspack.matrix.Matrix

INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Constructor Summary

Constructors

Constructor and Description
Matrix4d() Creates a matrix and initializes it to zero.
Matrix4d(double[] vals) Creates a matrix and initializes its elements from an array of values.
Matrix4d(Matrix M) Creates a matrix and initializes its elements to those of the matrix M.

Method Summary

Modifier and Type	Method and Description
void	add(Matrix4dBase M1) Adds this matrix to M1 and places the result in this matrix.
void	add(Matrix4dBase M1, Matrix4dBase M2) Adds matrix M1 to M2 and places the result in this matrix.
void	addObj(Matrix4d M1) Adds v1 to this vector.
void	addScaledOuterProduct(double s, Quaternion q0, Quaternion q1) Computes the outer product of quaternions q0 and q1 (each treated simply as a 4 vector), scales it by s, and adds the result to this matrix.
Matrix4d	clone()
boolean	epsilonEquals(Matrix4d M1, double tol) Returns true if the components of this vector are equal to those of v1, within the tolerance tol.
boolean	invert(Matrix4dBase M) Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular.
void	mul(Matrix4dBase M1) Multiplies this matrix by M1 and places the result in this matrix.
void	mul(Matrix4dBase M1, Matrix4dBase M2) Multiplies matrix M1 by M2 and places the result in this matrix.
boolean	mulInverse(Matrix4dBase M1) Multiplies this matrix by the inverse of M1 and places the result in this matrix.
boolean	mulInverseBoth(Matrix4dBase M1, Matrix4dBase M2) Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.
boolean	mulInverseLeft(Matrix4dBase M1, Matrix4dBase M2) Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.
boolean	mulInverseRight(Matrix4dBase M1, Matrix4dBase M2) Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.
void	mulTranspose(Matrix4dBase M1) Multiplies this matrix by the transpose of M1 and places the result in this matrix.
void	mulTransposeBoth(Matrix4dBase M1, Matrix4dBase M2) Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.
void	mulTransposeLeft(Matrix4dBase M1, Matrix4dBase M2) Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.
void	mulTransposeRight(Matrix4dBase M1, Matrix4dBase M2) Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.
void	negate(Matrix4dBase M1) Sets this matrix to the negative of M1.
void	scale(double s) Scales the elements of this matrix by s.
void	scale(double s, Matrix4dBase M1) Scales the elements of matrix M1 by s and places the results in this matrix.
void	scaledAdd(double s, Matrix4dBase M1) Computes s M1 and adds the result to this matrix.
void	scaledAdd(double s, Matrix4dBase M1, Matrix4dBase M2) Computes s M1 + M2 and places the result in this matrix.
void	scaledAddObj(double s, Matrix4d M1) Scales v1 by s and adds it to this vector.
void	scaleObj(double s) Scales this vector by s.
void	set(Matrix4d M1) Sets this vector to v1
void	setColumns(Vector4d v0, Vector4d v1, Vector4d v2, Vector4d v3) Sets the columns of this matrix to the vectors v0, v1, v2, and v3.
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, double m33) Sets this matrix to a diagonal matrix whose values are specified.
void	setDiagonal(Vector4d 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(Vector4d v0, Vector4d v1, Vector4d v2, Vector4d v3) Sets the rows of this matrix to the vectors v0, v1, v2, and v3.
void	setZero() Sets the elements of this matrix to zero.
void	sub(Matrix4dBase M1) Subtracts this matrix from M1 and places the result in this matrix.
void	sub(Matrix4dBase M1, Matrix4dBase M2) Subtracts matrix M1 from M2 and places the result in this matrix.
void	transpose(Matrix4dBase M1) Sets this matrix to the transpose of M

Methods inherited from class maspack.matrix.Matrix4dBase

colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, getColumn, getColumn, getColumn, getRow, getRow, getRow, infinityNorm, invert, mul, mul, mul, mulAdd, mulInverse, mulInverse, mulInverseTranspose, mulInverseTranspose, mulTranspose, mulTranspose, mulTransposeLeftAdd, mulTransposeRightAdd, negate, oneNorm, rowSize, set, set, set, setColumn, setColumn, setIdentity, setRow, setRow, transpose

Methods inherited from class maspack.matrix.DenseMatrixBase

add, checkConsistency, set, 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, isSymmetric, isWritable, maxNorm, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, 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

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

Field Detail

IDENTITY

public static final Matrix4d IDENTITY

Global identity matrix. Should not be modified.

ZERO

public static final Matrix4d ZERO

Global zero matrix. Should not be modified.

Constructor Detail

Matrix4d

public Matrix4d()

Creates a matrix and initializes it to zero.

Matrix4d

public Matrix4d(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*4+j

Matrix4d

public Matrix4d(Matrix 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(Vector4d v0,
                       Vector4d v1,
                       Vector4d v2,
                       Vector4d v3)

Sets the columns of this matrix to the vectors v0, v1, v2, and v3.

Parameters:

v0 - values for the first column

v1 - values for the second column

v2 - values for the third column

v3 - values for the fourth column

setRows

public void setRows(Vector4d v0,
                    Vector4d v1,
                    Vector4d v2,
                    Vector4d v3)

Sets the rows of this matrix to the vectors v0, v1, v2, and v3.

Parameters:

v0 - values for the first row

v1 - values for the second row

v2 - values for the third row

v3 - values for the fourth row

mul

public void mul(Matrix4dBase M1)

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

Parameters:

M1 - right-hand matrix

mul

public void mul(Matrix4dBase M1,
                Matrix4dBase M2)

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

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

mulTranspose

public void mulTranspose(Matrix4dBase 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(Matrix4dBase M1,
                             Matrix4dBase 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(Matrix4dBase M1,
                              Matrix4dBase 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(Matrix4dBase M1,
                             Matrix4dBase 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(Matrix4dBase 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(Matrix4dBase M1,
                               Matrix4dBase 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(Matrix4dBase M1,
                              Matrix4dBase 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(Matrix4dBase M1,
                              Matrix4dBase 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

add

public void add(Matrix4dBase M1,
                Matrix4dBase 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(Matrix4dBase M1)

Adds this matrix to M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

sub

public void sub(Matrix4dBase M1,
                Matrix4dBase 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(Matrix4dBase 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,
                  Matrix4dBase 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,
                      Matrix4dBase M1,
                      Matrix4dBase 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,
                      Matrix4dBase 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(Matrix4dBase M1)

Sets this matrix to the negative of M1.

Parameters:

M1 - matrix to negate

transpose

public void transpose(Matrix4dBase 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<Matrix4d>

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(Matrix4dBase 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 LU decomposition with partial pivoting.

Parameters:

M - matrix to invert

Returns:

false if M is singular

setDiagonal

public void setDiagonal(Vector4d 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,
                        double m33)

Sets this matrix to a diagonal matrix whose values are specified.

Parameters:

m00 - first diagonal value

m11 - second diagonal value

m22 - third diagonal value

m33 - fourth diagonal value

addScaledOuterProduct

public void addScaledOuterProduct(double s,
                                  Quaternion q0,
                                  Quaternion q1)

Computes the outer product of quaternions q0 and q1 (each treated simply as a 4 vector), scales it by s, and adds the result to this matrix.

Parameters:

s - scale factor

q0 - left side quaternion

q1 - right side quaternion

clone

public Matrix4d clone()

Specified by:

clone in interface Clonable

Overrides:

clone in class Matrix4dBase

scaleObj

public void scaleObj(double s)

Scales this vector by s.

Specified by:

scaleObj in interface VectorObject<Matrix4d>

addObj

public void addObj(Matrix4d M1)

Adds v1 to this vector.

Specified by:

addObj in interface VectorObject<Matrix4d>

scaledAddObj

public void scaledAddObj(double s,
                         Matrix4d M1)

Scales v1 by s and adds it to this vector.

Specified by:

scaledAddObj in interface VectorObject<Matrix4d>

set

public void set(Matrix4d M1)

Sets this vector to v1

Specified by:

set in interface VectorObject<Matrix4d>

epsilonEquals

public boolean epsilonEquals(Matrix4d 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<Matrix4d>