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 wQuaternion &rotation, const wVector &position)
	Constructor.

	wMatrix (const real position, const real rotation)
	Constructor.

	wMatrix (const wMatrix &other)
	Copy 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.

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

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

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 )

inlinestatic

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 ( )

inlinestatic

create an identity matrix

Definition at line 451 of file wmatrix.h.

References wMatrix::wMatrix().

Referenced by PhySphere::createPrivateObject(), PhyCone::createPrivateObject(), PhyCompoundObject::createPrivateObject(), PhyBox::createPrivateObject(), PhyCylinder::createPrivateObject(), RenderWObjectContainer::drawSphere(), PhyEpuck::PhyEpuck(), PhyiCub::PhyiCub(), PhyKhepera::PhyKhepera(), 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(), PhyKhepera::PhyKhepera(), 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 )

inlinestatic

create a rotation around X axis of ang radians

Definition at line 485 of file wmatrix.h.

References wMatrix::wMatrix().

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

wMatrix roll ( real ang )

inlinestatic

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(), PhyKhepera::PhyKhepera(), PhyMarXbot::PhyMarXbot(), PhyMarXbot::setDrawFrontMarker(), PhyKhepera::setDrawFrontMarker(), and PhyEpuck::setDrawFrontMarker().

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

Referenced by PhyKhepera::PhyKhepera().

wMatrix yaw ( real ang )

inlinestatic

create a rotation around Y axis of ang radians

Definition at line 494 of file wmatrix.h.

References wMatrix::wMatrix().

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

wMatrix zero ( )

inlinestatic

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 - 1.2.3

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation