maspack.matrix

Class Matrix6x1

java.lang.Object

maspack.matrix.MatrixBase

maspack.matrix.DenseMatrixBase

maspack.matrix.Matrix6x1

All Implemented Interfaces:

java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, VectorObject<Matrix6x1>, Clonable, Scannable

Direct Known Subclasses:

Matrix6x1Block

public class Matrix6x1
extends DenseMatrixBase
implements VectorObject<Matrix6x1>

Implements a 6 x 1 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	m10
double	m20
double	m30
double	m40
double	m50
static Matrix6x1	ZERO Global zero matrix.

Fields inherited from interface maspack.matrix.Matrix

INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC

Constructor Summary

Constructors

Constructor and Description
Matrix6x1() Creates a new Matrix6x1.

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(Matrix6x1 M) Adds the contents of a Matrix6x1 to this matrix block.
void	add(Matrix6x1 M1, Matrix6x1 M2) Computes M1 + M2 and places the result in this matrix.
void	addObj(Matrix6x1 M1) Adds v1 to this vector.
Matrix6x1	clone() Creates a clone of this matrix.
int	colSize() Number of columns in the matrix associated with this transformation.
double	dot(Matrix6x1 M) Returns the dot product of the elements of this matrix with a another 6 x 1 matrix.
double	dot(Vector3d v1, Vector3d v2) Returns the dot product of the elements of this matrix with a 6-element vector formed from two 3-element vectors.
boolean	epsilonEquals(Matrix6x1 M1, double tol) Returns true if the components of this vector are equal to those of v1, within the tolerance tol.
boolean	equals(Matrix6x1 M1)
double	get(int i, int j) Gets a single element of this matrix.
void	get(Vector3d v1, Vector3d v2) Gets the contents of this Matrix6x1 into two Vector3ds.
void	mul(Matrix6d M1, Matrix6x1 M2) Forms the product of a 6x6 matrix with a 6x1 matrix and places the result in this matrix.
void	mulAdd(Matrix M1, Matrix M2) Multiplies M1 by M2 and places the result in this matrix.
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(Matrix6x1 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, Matrix6x1 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, Matrix6x1 M) Adds the scaled contents of a Matrix6x1 to this matrix block.
void	scaledAdd(double s, Matrix6x1 M1, Matrix6x1 M2) Computes s M1 + M2 and places the result in this matrix.
void	scaledAddObj(double s, Matrix6x1 M1) Scales v1 by s and adds it to this vector.
void	scaleObj(double s) Scales this vector by s.
void	set(double[] values) Sets the elements of this matrix from an array of doubles.
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(Matrix6x1 M) Sets the contents of this Matrix6x1 to those of a specified block.
void	set(Vector3d v1, Vector3d v2) Sets the contents of this Matrix6x1 from two Vector3ds.
void	setColumn(int j, double[] values) Sets a column of this matrix from an array of doubles.
void	setRow(int i, double[] values) Set a row of this matrix from an array of doubles.
void	setWrench(Vector3d nrm, Vector3d pnt) Sets the contents of this Matrix6x1 to the wrench produced from nrm and pnt.
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(Matrix6x1 M) Subtracts the contents of a Matrix6x1 from this matrix block.
void	sub(Matrix6x1 M1, Matrix6x1 M2) Computes M1 - M2 places the result in this matrix.
void	transform(RotationMatrix3d R) Transforms the first three and last three elements of this Matrix6x1 into a new coordinate system specified by a rotation matrix R.
void	transpose(Matrix1x6 M) Sets this matrix to the transpose of M
java.lang.String	transposeToString()
java.lang.String	transposeToString(NumberFormat fmt)
java.lang.String	transposeToString(java.lang.String fmtStr)

Methods inherited from class maspack.matrix.DenseMatrixBase

add, checkConsistency, 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, getColumn, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getDefaultFormat, getRow, getRow, 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, getColumn, getColumn, getCRSIndices, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getCRSValues, getRow, getRow, 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

m10

public double m10

m20

public double m20

m30

public double m30

m40

public double m40

m50

public double m50

ZERO

public static final Matrix6x1 ZERO

Global zero matrix. Should not be modified.

Constructor Detail

Matrix6x1

public Matrix6x1()

Creates a new Matrix6x1.

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

get

public void get(Vector3d v1,
                Vector3d v2)

Gets the contents of this Matrix6x1 into two Vector3ds.

Parameters:

v1 - vector to return first three elements in

v2 - vector to return second three elements in

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

set

public void set(double[] values)

Sets the elements of this matrix from an array of doubles. The elements in the array should be stored using row-major order, so that element (i,j) is stored at location i*colSize()+j.

Specified by:

set in interface DenseMatrix

Overrides:

set in class DenseMatrixBase

Parameters:

values - array from which values are 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

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

setZero

public void setZero()

Sets the elements of this matrix to zero.

Specified by:

setZero in interface VectorObject<Matrix6x1>

set

public void set(Matrix M)

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(Matrix6x1 M)

Sets the contents of this Matrix6x1 to those of a specified block.

Specified by:

set in interface VectorObject<Matrix6x1>

Parameters:

M - matrix block providing new values

set

public void set(Vector3d v1,
                Vector3d v2)

Sets the contents of this Matrix6x1 from two Vector3ds.

Parameters:

v1 - vector providing first three values

v2 - vector providing second three values

setWrench

public void setWrench(Vector3d nrm,
                      Vector3d pnt)

Sets the contents of this Matrix6x1 to the wrench produced from nrm and pnt. The first three elements are set to nrm, and the last three elements are set to pnt x nrm.

Parameters:

nrm - normal vector used to form the wrench

pnt - point used to form the wrench

transform

public void transform(RotationMatrix3d R)

Transforms the first three and last three elements of this Matrix6x1 into a new coordinate system specified by a rotation matrix R.

Parameters:

R - Rotation matrix specifying the rotation

mul

public void mul(Matrix6d M1,
                Matrix6x1 M2)

Forms the product of a 6x6 matrix with a 6x1 matrix and places the result in this matrix.

Parameters:

M1 - 6x6 matrix

M2 - 6x1 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,
                  Matrix6x1 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(Matrix6x1 M)

Adds the contents of a Matrix6x1 to this matrix block.

Parameters:

M - matrix block to add

add

public void add(Matrix6x1 M1,
                Matrix6x1 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,
                      Matrix6x1 M)

Adds the scaled contents of a Matrix6x1 to this matrix block.

Parameters:

M - matrix block to add

scaledAdd

public void scaledAdd(double s,
                      Matrix6x1 M1,
                      Matrix6x1 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(Matrix6x1 M)

Sets this matrix to the negative of M.

Parameters:

M - matrix to negate

negate

public void negate()

Negates this matrix in place.

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

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(Matrix6x1 M)

Subtracts the contents of a Matrix6x1 from this matrix block.

Parameters:

M - matrix block to subtract

sub

public void sub(Matrix6x1 M1,
                Matrix6x1 M2)

Computes M1 - M2 places the result in this matrix.

Parameters:

M1 - first matrix

M2 - matrix to subtract

dot

public double dot(Vector3d v1,
                  Vector3d v2)

Returns the dot product of the elements of this matrix with a 6-element vector formed from two 3-element vectors.

Parameters:

v1 - first three vector elements

v2 - second three vector elements

Returns:

dot product of this with [v1 v2]

dot

public double dot(Matrix6x1 M)

Returns the dot product of the elements of this matrix with a another 6 x 1 matrix.

Parameters:

M - matrix to take dot product with

Returns:

dot product of this with M

transposeToString

public java.lang.String transposeToString()

transposeToString

public java.lang.String transposeToString(java.lang.String fmtStr)

transposeToString

public java.lang.String transposeToString(NumberFormat fmt)

transpose

public void transpose(Matrix1x6 M)

Sets this matrix to the transpose of M

Parameters:

M - matrix to take the transpose of

clone

public Matrix6x1 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<Matrix6x1>

addObj

public void addObj(Matrix6x1 M1)

Adds v1 to this vector.

Specified by:

addObj in interface VectorObject<Matrix6x1>

scaledAddObj

public void scaledAddObj(double s,
                         Matrix6x1 M1)

Scales v1 by s and adds it to this vector.

Specified by:

scaledAddObj in interface VectorObject<Matrix6x1>

equals

public boolean equals(Matrix6x1 M1)

epsilonEquals

public boolean epsilonEquals(Matrix6x1 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<Matrix6x1>