wMatrix class More...

Public Member Functions
	wMatrix ()
	Construct an unintialized matrix.
	wMatrix (const wVector &X, const wVector &Y, const wVector &Z, const wVector &P)
	Construct the matrix.
	wMatrix (const real position, const real rotation)
	Constructor.
	wMatrix (const wMatrix &other)
	Copy constructor.
	wMatrix (const wQuaternion &rotation, const wVector &position)
	Constructor.
wVector	getEuleroAngles () const
	return the Eulero angle of rotation
wMatrix	inverse () const
	calculate the inverse of transformation matrix
wMatrix	operator* (const wMatrix &B) const
	matrix multiplication
wMatrix &	operator= (const wMatrix &other)
	Copy operator.
const wVectorT< true > &	operator[] (int i) const
	indexing operator (const version)
wVectorT< true > &	operator[] (int i)
	indexing operator
wMatrix	rotateAround (const wVector &axis, const wVector &centre, real angle) const
	Rotate this matrix around the axis, and position passed of radians specified.
wMatrix	rotateMatrix (const wMatrix &tm) const
	rotate the matrix passed by rotation specified by this and return a copy
wVector	rotateVector (const wVector &v) const
	rotate the vector v, it doesn't apply position transformation
void	sanitifize ()
	change the matrix in order to get a valid one that represent the same rotation/translation
bool	sanityCheck ()
	return true if the transformation matrix is valid
wVector	transformPlane (const wVector &localPlane) const
	...
void	transformTriplex (real dst, int dstStrideInBytes, real src, int srcStrideInBytes, int count) const
	apply transformation to a chunck of vectors
wVector	transformVector (const wVector &v) const
	apply both rotation and translation to the vector v
wMatrix	transpose () const
	transpose the rotation sub-matrix
wMatrix	transpose4X4 () const
	full transposition of the transformation matrix
wVector	unrotateVector (const wVector &v) const
	inverte the rotation of this matrix on the vector v
wVector	untransformPlane (const wVector &globalPlane) const
	...
wVector	untransformVector (const wVector &v) const
	invert the rotation and translation on the vector v
Static Public Member Functions
static wMatrix	grammSchmidt (const wVector &dir)
	calculate an orthonormal matrix with the Z vector pointing on the dir direction, and the Y and Z are determined by using the Gramm-Schmidth procedure
static wMatrix	identity ()
	create an identity matrix
static wMatrix	pitch (real ang)
	create a rotation around X axis of ang radians
static wMatrix	roll (real ang)
	create a rotation around Z axis of ang radians
static wMatrix	yaw (real ang)
	create a rotation around Y axis of ang radians
static wMatrix	zero ()
	create a zero matrix
Public Attributes
wVectorT< true >	w_pos
wVectorT< true >	x_ax
wVectorT< true >	y_ax
wVectorT< true >	z_ax

Detailed Description

wMatrix class

\

Motivation: 4x4 Matrix of real numbers; useful for transformation matrix

Description: Description

Warnings

Definition at line 46 of file wmatrix.h.

Constructor & Destructor Documentation

wMatrix ( ) [inline]

Construct an unintialized matrix.

Definition at line 154 of file wmatrix.h.

Referenced by wMatrix::grammSchmidt(), wMatrix::identity(), wMatrix::inverse(), wMatrix::operator*(), wMatrix::pitch(), wMatrix::roll(), wMatrix::rotateMatrix(), wMatrix::transpose(), wMatrix::transpose4X4(), wMatrix::yaw(), and wMatrix::zero().

wMatrix	(	const wVector &	X,
		const wVector &	Y,
		const wVector &	Z,
		const wVector &	P
	)		`[inline]`

Construct the matrix.

Parameters:

X	x axis representation
Y	y axis representation
Z	z axis representation
P	world position

Definition at line 161 of file wmatrix.h.

wMatrix	(	const wQuaternion &	rotation,
		const wVector &	position
	)		`[inline]`

Constructor.

Parameters:

rotation	quaternion representation of rotation part
position	world position

Definition at line 172 of file wmatrix.h.

wMatrix	(	const real *	position,
		const real *	rotation
	)		`[inline]`

Constructor.

Parameters:

position	a vector containg three position value
rotation	a vector containing 12 values representing a 3x4 rotation matrix useful for converting data from ODE to wMatrix

Definition at line 211 of file wmatrix.h.

wMatrix ( const wMatrix & other ) [inline]

Copy constructor.

Definition at line 222 of file wmatrix.h.

Member Function Documentation

wVector getEuleroAngles ( ) const [inline]

return the Eulero angle of rotation

Definition at line 270 of file wmatrix.h.

References farsa::max(), farsa::min(), wMatrix::pitch(), wMatrix::roll(), and wMatrix::yaw().

wMatrix grammSchmidt ( const wVector & dir ) [inline, static]

calculate an orthonormal matrix with the Z vector pointing on the dir direction, and the Y and Z are determined by using the Gramm-Schmidth procedure

Definition at line 465 of file wmatrix.h.

References wVectorT< Shared >::normalize(), and wMatrix::wMatrix().

Referenced by RenderWorld::drawArrow(), RenderWObjectContainer::drawCylinder(), and RenderWObjectContainer::drawTorus().

wMatrix identity ( ) [inline, static]

create an identity matrix

Definition at line 451 of file wmatrix.h.

References wMatrix::wMatrix().

Referenced by PhySphere::createPrivateObject(), PhyCylinder::createPrivateObject(), PhyCone::createPrivateObject(), PhyCompoundObject::createPrivateObject(), PhyBox::createPrivateObject(), RenderWObjectContainer::drawSphere(), PhyiCub::PhyiCub(), PhyMarXbot::PhyMarXbot(), and PhyUniversal::updateJointInfo().

wMatrix inverse ( ) const [inline]

calculate the inverse of transformation matrix

Definition at line 249 of file wmatrix.h.

References wMatrix::wMatrix().

Referenced by PhyObjectsGroup::addObject(), World::collisionRayCast(), PhyBallAndSocket::PhyBallAndSocket(), PhyFixed::PhyFixed(), PhyHinge::PhyHinge(), PhySuspension::PhySuspension(), PhyUniversal::PhyUniversal(), PhyObjectsGroup::setDOFPosition(), and PhyObjectsGroup::updateRelativePositions().

wMatrix operator* ( const wMatrix & B ) const [inline]

matrix multiplication

Definition at line 383 of file wmatrix.h.

References wMatrix::wMatrix().

wMatrix & operator= ( const wMatrix & other ) [inline]

Copy operator.

Definition at line 230 of file wmatrix.h.

wVectorT< true > & operator[] ( int i ) [inline]

indexing operator

Definition at line 241 of file wmatrix.h.

const wVectorT< true > & operator[] ( int i ) const [inline]

indexing operator (const version)

Definition at line 245 of file wmatrix.h.

wMatrix pitch ( real ang ) [inline, static]

create a rotation around X axis of ang radians

Definition at line 485 of file wmatrix.h.

References wMatrix::wMatrix().

Referenced by wMatrix::getEuleroAngles(), PhyiCub::PhyiCub(), and PhyMarXbot::PhyMarXbot().

wMatrix roll ( real ang ) [inline, static]

create a rotation around Z axis of ang radians

Definition at line 503 of file wmatrix.h.

References wMatrix::wMatrix().

Referenced by wMatrix::getEuleroAngles(), PhyiCub::PhyiCub(), and PhyMarXbot::PhyMarXbot().

wMatrix rotateAround	(	const wVector &	axis,
		const wVector &	centre,
		real	angle
	)		const `[inline]`

Rotate this matrix around the axis, and position passed of radians specified.

Parameters:

axis	of rotation in world coordinate
centre	of rotation in world coordinate
angle	of rotation in radians

Definition at line 292 of file wmatrix.h.

References wVectorT< Shared >::rotateAround().

Referenced by PhyiCub::PhyiCub(), and PhyObjectsGroup::setDOFPosition().

wMatrix rotateMatrix ( const wMatrix & tm ) const [inline]

rotate the matrix passed by rotation specified by this and return a copy

Definition at line 325 of file wmatrix.h.

References wMatrix::wMatrix().

wVector rotateVector ( const wVector & v ) const [inline]

rotate the vector v, it doesn't apply position transformation

Definition at line 345 of file wmatrix.h.

Referenced by PhyiCub::PhyiCub(), wMatrix::transformPlane(), and wMatrix::transformVector().

void sanitifize ( ) [inline]

change the matrix in order to get a valid one that represent the same rotation/translation

Definition at line 441 of file wmatrix.h.

Referenced by PhyBallAndSocket::PhyBallAndSocket(), PhyFixed::PhyFixed(), PhyHinge::PhyHinge(), PhySuspension::PhySuspension(), PhyUniversal::PhyUniversal(), and PhyUniversal::updateJointInfo().

bool sanityCheck ( ) [inline]

return true if the transformation matrix is valid

Definition at line 422 of file wmatrix.h.

Referenced by PhyBallAndSocket::PhyBallAndSocket(), PhyFixed::PhyFixed(), PhyHinge::PhyHinge(), PhySuspension::PhySuspension(), PhyUniversal::PhyUniversal(), PhyUniversal::updateJointInfo(), PhySuspension::updateJointInfo(), PhyHinge::updateJointInfo(), PhyFixed::updateJointInfo(), and PhyBallAndSocket::updateJointInfo().

wVector transformPlane ( const wVector & localPlane ) const [inline]

...

doc missing ...

Definition at line 410 of file wmatrix.h.

References wMatrix::rotateVector(), and wMatrix::unrotateVector().

void transformTriplex	(	real *	dst,
		int	dstStrideInBytes,
		real *	src,
		int	srcStrideInBytes,
		int	count
	)		const `[inline]`

apply transformation to a chunck of vectors

Parameters:

dst	where to store transformed vectors
src	where to get vectors to transform
count	how many vector you want to transform

Definition at line 363 of file wmatrix.h.

wVector transformVector ( const wVector & v ) const [inline]

apply both rotation and translation to the vector v

Definition at line 355 of file wmatrix.h.

References wMatrix::rotateVector().

Referenced by World::collisionRayCast(), and SingleIR::update().

wMatrix transpose ( ) const [inline]

transpose the rotation sub-matrix

Definition at line 256 of file wmatrix.h.

References wMatrix::wMatrix().

wMatrix transpose4X4 ( ) const [inline]

full transposition of the transformation matrix

Definition at line 263 of file wmatrix.h.

References wMatrix::wMatrix().

wVector unrotateVector ( const wVector & v ) const [inline]

inverte the rotation of this matrix on the vector v

Definition at line 351 of file wmatrix.h.

Referenced by wMatrix::transformPlane(), wMatrix::untransformPlane(), and wMatrix::untransformVector().

wVector untransformPlane ( const wVector & globalPlane ) const [inline]

...

doc missing ...

Definition at line 416 of file wmatrix.h.

References wMatrix::unrotateVector().

wVector untransformVector ( const wVector & v ) const [inline]

invert the rotation and translation on the vector v

Definition at line 359 of file wmatrix.h.

References wMatrix::unrotateVector().

wMatrix yaw ( real ang ) [inline, static]

create a rotation around Y axis of ang radians

Definition at line 494 of file wmatrix.h.

References wMatrix::wMatrix().

Referenced by wMatrix::getEuleroAngles(), PhyiCub::PhyiCub(), and PhyMarXbot::PhyMarXbot().

wMatrix zero ( ) [inline, static]

create a zero matrix

Definition at line 458 of file wmatrix.h.

References wMatrix::wMatrix().

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

worldsim/include/wmatrix.h

WorldSim - 0.6.0

wMatrix Class Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation