Rotation matrix. More...

#include <Matrix3.h>

Inheritance diagram for molecular::util::Matrix3:

Public Types
using	Super = Matrix< 3, 3 >

Public Types inherited from molecular::util::Matrix< 3, 3 >
using	ValueType = float

Public Member Functions
	Matrix3 ()

	Matrix3 (ValueType m00, ValueType m01, ValueType m02, ValueType m10, ValueType m11, ValueType m12, ValueType m20, ValueType m21, ValueType m22)

	Matrix3 (Super s)

	Matrix3 (const ValueType values[9])

	Matrix3 (const Matrix< 3, 4 > &mat)

	Matrix3 (const Quaternion &quaternion)
	Construct a rotation matrix out of a quaternion. More...

	Matrix3 (const Vector3 &xBasis, const Vector3 &yBasis, const Vector3 &zBasis)
	Construct matrix out of three basis vectors. More...

Vector3	operator* (const Vector3 &v) const
	Matrix-vector multiplication. More...

Quaternion	ToQuaternion () const
	Convert to Quaternion. More...

Matrix3	GetRotation () const
	Get rotation without scaling. More...

ValueType	GetScale () const

ValueType	Determinant () const

Public Member Functions inherited from molecular::util::Matrix< 3, 3 >
	Matrix ()=default
	Default constructor. More...

	Matrix (const floatvalues[rows *cols])
	Construct matrix from an array in row-major order. More...

	Matrix (const floatvalues[rows][cols])
	Construct matrix from two-dimensional array. More...

	Matrix (std::initializer_list< float > init)

	Matrix (const Eigen::MatrixBase< OtherDerived > &other)
	Construct from Eigen expression. More...

Matrix &	operator= (const Eigen::MatrixBase< OtherDerived > &other)
	Assign from Eigen expression. More...

const float *	Get () const
	Returns array of matrix elements in row-major order. More...

float *	operator[] (int row)

const float *	operator[] (int row) const

float	operator() (int row, int col) const

float &	operator() (int row, int col)

auto	ToEigen ()

auto	ToEigen () const

Matrix< rows, M::kCols, float >	operator* (const M &mat) const
	Matrix-matrix multiplication. More...

Matrix	operator* (ValueType s) const
	Matrix-scalar multiplication. More...

Matrix	operator+ (const Matrix &mat) const

Matrix &	operator+= (const Matrix &mat)

Matrix &	operator*= (const Matrix &mat)

Matrix &	operator*= (ValueType s)

Matrix &	operator/= (ValueType s)

void	SetIdentity ()

Matrix< M::kRows, M::kCols+cols, float >	Augmented (const M &mat) const
	Returns the matrix with mat concatenated to the right side. More...

Matrix< rows, newcols, float >	SubMatrixRight () const
	Returns the right portion of the matrix with the given width. More...

Matrix< rows, newcols, float >	SubMatrixLeft () const
	Returns the left portion of the matrix with the given width. More...

void	Print () const

Matrix< rows, cols, float >	Inverse () const
	Returns the inverse of the matrix. More...

Matrix< cols, rows, float >	Transposed () const
	Returns the transposed of the matrix. More...

float	Trace () const
	Returns the sum of the diagonal elements. More...

Static Public Member Functions
static Matrix3	LookAtX (const Vector3 &at, const Vector3 &up=Vector3(0, 1, 0))

static Matrix3	LookAtZ (const Vector3 &at, const Vector3 &up=Vector3(0, 1, 0))

static Matrix3	RotationX (float a)

static Matrix3	RotationY (float a)

static Matrix3	RotationZ (float a)

static Matrix3	Scale (ValueType s)

static Matrix3	Scale (ValueType sx, ValueType sy, ValueType sz)

Static Public Member Functions inherited from molecular::util::Matrix< 3, 3 >
static Matrix	Identity ()

static Matrix	Zeros ()

Additional Inherited Members
Static Public Attributes inherited from molecular::util::Matrix< 3, 3 >
static const int	kRows

static const int	kCols

Protected Attributes inherited from molecular::util::Matrix< 3, 3 >
float	m [rows][cols]

Detailed Description

Rotation matrix.

The following convention is used: Consecutive transformations (e.g. A, B, C) have to be multiplied from right to left (C * B * A). To transform a Vector3 (which is a column vector), multiply it right of the matrix (e.g. x' = A * x).

Member Typedef Documentation

using molecular::util::Matrix3::Super = Matrix<3, 3>

Constructor & Destructor Documentation

molecular::util::Matrix3::Matrix3 ( )

inline

molecular::util::Matrix3::Matrix3	(	ValueType	m00,
		ValueType	m01,
		ValueType	m02,
		ValueType	m10,
		ValueType	m11,
		ValueType	m12,
		ValueType	m20,
		ValueType	m21,
		ValueType	m22
	)

inline

molecular::util::Matrix3::Matrix3 ( Super s )

inline

molecular::util::Matrix3::Matrix3 ( const ValueType values[9] )

inline

molecular::util::Matrix3::Matrix3 ( const Matrix< 3, 4 > & mat )

inline

molecular::util::Matrix3::Matrix3 ( const Quaternion & quaternion )

inline

Construct a rotation matrix out of a quaternion.

molecular::util::Matrix3::Matrix3	(	const Vector3 &	xBasis,
		const Vector3 &	yBasis,
		const Vector3 &	zBasis
	)

inline

Construct matrix out of three basis vectors.

Member Function Documentation

ValueType molecular::util::Matrix3::Determinant ( ) const

inline

Matrix3 molecular::util::Matrix3::GetRotation ( ) const

inline

Get rotation without scaling.

Works for uniform scaling only!

ValueType molecular::util::Matrix3::GetScale ( ) const

inline

static Matrix3 molecular::util::Matrix3::LookAtX	(	const Vector3 &	at,
		const Vector3 &	up = `Vector3(0,1,0)`
	)

inlinestatic

static Matrix3 molecular::util::Matrix3::LookAtZ	(	const Vector3 &	at,
		const Vector3 &	up = `Vector3(0,1,0)`
	)

inlinestatic

Vector3 molecular::util::Matrix3::operator* ( const Vector3 & v ) const

inline

Matrix-vector multiplication.

static Matrix3 molecular::util::Matrix3::RotationX ( float a )

inlinestatic

static Matrix3 molecular::util::Matrix3::RotationY ( float a )

inlinestatic

static Matrix3 molecular::util::Matrix3::RotationZ ( float a )

inlinestatic

static Matrix3 molecular::util::Matrix3::Scale ( ValueType s )

inlinestatic

static Matrix3 molecular::util::Matrix3::Scale	(	ValueType	sx,
		ValueType	sy,
		ValueType	sz
	)

inlinestatic

Quaternion molecular::util::Matrix3::ToQuaternion ( ) const

inline

Convert to Quaternion.

Only works if this matrix represents pure rotation. See http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm

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

/home/travis/build/cmdrf/molecular/molecular-util/molecular/util/Matrix3.h

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation