CMatrix Class Reference

Homogenous matrix. More...

#include <vecmath.h>

List of all members.

Public Member Functions
	CMatrix ()
	CMatrix (PRECISION a0, PRECISION a4, PRECISION a8, PRECISION a12, PRECISION a1, PRECISION a5, PRECISION a9, PRECISION a13, PRECISION a2, PRECISION a6, PRECISION a10, PRECISION a14, PRECISION a3=0.0f, PRECISION a7=0.0f, PRECISION a11=0.0f, PRECISION a15=1.0f)
void	set (PRECISION a0, PRECISION a4, PRECISION a8, PRECISION a12, PRECISION a1, PRECISION a5, PRECISION a9, PRECISION a13, PRECISION a2, PRECISION a6, PRECISION a10, PRECISION a14, PRECISION a3=0.0f, PRECISION a7=0.0f, PRECISION a11=0.0f, PRECISION a15=1.0f)
PRECISION	trace ()
	Trace - sum of diagonal elements - of matrix.
void	transpose ()
	Transposes the matrix.
void	invert ()
	Inverts the matrix (only for homogenous matrices).
void	mul (const CMatrix &first, const CMatrix &second)
	Assigns product of two matrices to matrix.
void	print (bool round=false)
	Prints matrix to console.
void	setDh (const CDh &dh)
	Creates Denavit Hartenberg matrix.
void	updateDh (const CDh &dh)
	Updates variable parts of the Denavit Hartenberg matrix.
CMatrix	operator * (PRECISION f) const
	Scalar multiplication.
CMatrix	operator+ (const CMatrix &b) const
	Matrix addition.
CMatrix	operator- (const CMatrix &b) const
	Matrix subtraction.
CMatrix	operator * (const CMatrix &m) const
	Matrix multiplication.
CMatrix &	operator+= (const CVec &v)
	Overwrites matrix with sum of matrix and vector.
CVec	operator * (const CVec &v) const
	Matrix vector product.
const CVec &	operator[] (int i) const
	Array access (read&write).
CMatrix &	operator= (const CMatrix &v)
	Assigns values of matrix v to matrix.
Public Attributes
PRECISION	a [16]

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Detailed Description

Homogenous matrix.

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Constructor & Destructor Documentation

CMatrix::CMatrix

(

)

CMatrix::CMatrix	(	PRECISION	a0,
		PRECISION	a4,
		PRECISION	a8,
		PRECISION	a12,
		PRECISION	a1,
		PRECISION	a5,
		PRECISION	a9,
		PRECISION	a13,
		PRECISION	a2,
		PRECISION	a6,
		PRECISION	a10,
		PRECISION	a14,
		PRECISION	a3 = 0.0f,
		PRECISION	a7 = 0.0f,
		PRECISION	a11 = 0.0f,
		PRECISION	a15 = 1.0f
	)

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Member Function Documentation

void CMatrix::set	(	PRECISION	a0,
		PRECISION	a4,
		PRECISION	a8,
		PRECISION	a12,
		PRECISION	a1,
		PRECISION	a5,
		PRECISION	a9,
		PRECISION	a13,
		PRECISION	a2,
		PRECISION	a6,
		PRECISION	a10,
		PRECISION	a14,
		PRECISION	a3 = 0.0f,
		PRECISION	a7 = 0.0f,
		PRECISION	a11 = 0.0f,
		PRECISION	a15 = 1.0f
	)

PRECISION CMatrix::trace

(

)

Trace - sum of diagonal elements - of matrix.

void CMatrix::transpose

(

)

Transposes the matrix.

void CMatrix::invert

(

)

Inverts the matrix (only for homogenous matrices).

void CMatrix::mul	(	const CMatrix &	first,
		const CMatrix &	second
	)

Assigns product of two matrices to matrix.

void CMatrix::print

(

bool

round = false

)

Prints matrix to console.

void CMatrix::setDh

(

const CDh &

dh

)

Creates Denavit Hartenberg matrix.

void CMatrix::updateDh

(

const CDh &

dh

)

Updates variable parts of the Denavit Hartenberg matrix.

CMatrix CMatrix::operator *

(

PRECISION

f

)

const

Scalar multiplication.

CMatrix CMatrix::operator+

(

const CMatrix &

b

)

const

Matrix addition.

CMatrix CMatrix::operator-

(

const CMatrix &

b

)

const

Matrix subtraction.

CMatrix CMatrix::operator *

(

const CMatrix &

m

)

const

Matrix multiplication.

CMatrix & CMatrix::operator+=

(

const CVec &

v

)

Overwrites matrix with sum of matrix and vector.

CVec CMatrix::operator *

(

const CVec &

v

)

const

Matrix vector product.

const CVec & CMatrix::operator[]

(

int

i

)

const

Array access (read&write).

CMatrix & CMatrix::operator=

(

const CMatrix &

v

)

Assigns values of matrix v to matrix.

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Member Data Documentation

PRECISION CMatrix::a[16]

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The documentation for this class was generated from the following files:

• include/vecmath.h
• src/vecmath.cpp

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