146 lines
4.2 KiB
C++
146 lines
4.2 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <string.h>
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#include <math.h>
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#include "gazebo/math/Helpers.hh"
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#include "gazebo/math/Matrix3.hh"
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using namespace gazebo;
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using namespace math;
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const Matrix3 Matrix3::IDENTITY(
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0);
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const Matrix3 Matrix3::ZERO(
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0.0, 0.0, 0.0,
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0.0, 0.0, 0.0,
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0.0, 0.0, 0.0);
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//////////////////////////////////////////////////
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Matrix3::Matrix3()
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{
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memset(this->m, 0, sizeof(this->m[0][0])*9);
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}
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//////////////////////////////////////////////////
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Matrix3::Matrix3(const Matrix3 &_m)
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{
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memcpy(this->m, _m.m, sizeof(this->m[0][0])*9);
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}
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//////////////////////////////////////////////////
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Matrix3::Matrix3(double _v00, double _v01, double _v02,
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double _v10, double _v11, double _v12,
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double _v20, double _v21, double _v22)
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{
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this->m[0][0] = _v00;
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this->m[0][1] = _v01;
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this->m[0][2] = _v02;
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this->m[1][0] = _v10;
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this->m[1][1] = _v11;
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this->m[1][2] = _v12;
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this->m[2][0] = _v20;
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this->m[2][1] = _v21;
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this->m[2][2] = _v22;
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}
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//////////////////////////////////////////////////
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Matrix3::~Matrix3()
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{
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}
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//////////////////////////////////////////////////
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void Matrix3::SetFromAxes(const Vector3 &xAxis, const Vector3 &yAxis,
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const Vector3 &zAxis)
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{
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this->SetCol(0, xAxis);
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this->SetCol(1, yAxis);
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this->SetCol(2, zAxis);
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}
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//////////////////////////////////////////////////
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void Matrix3::SetFromAxis(const Vector3 &_axis, double _angle)
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{
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double c = cos(_angle);
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double s = sin(_angle);
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double C = 1-c;
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this->m[0][0] = _axis.x*_axis.x*C + c;
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this->m[0][1] = _axis.x*_axis.y*C - _axis.z*s;
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this->m[0][2] = _axis.x*_axis.z*C + _axis.y*s;
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this->m[1][0] = _axis.y*_axis.x*C + _axis.z*s;
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this->m[1][1] = _axis.y*_axis.y*C + c;
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this->m[1][2] = _axis.y*_axis.z*C - _axis.x*s;
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this->m[2][0] = _axis.z*_axis.x*C - _axis.y*s;
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this->m[2][1] = _axis.z*_axis.y*C + _axis.x*s;
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this->m[2][2] = _axis.z*_axis.z*C + c;
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}
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//////////////////////////////////////////////////
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void Matrix3::SetCol(unsigned int _i, const Vector3 &_v)
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{
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if (_i >= 3)
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throw(std::string("Invalid column number"));
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m[0][_i] = _v.x;
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m[1][_i] = _v.y;
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m[2][_i] = _v.z;
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}
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//////////////////////////////////////////////////
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Matrix3 Matrix3::Inverse() const
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{
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double t0 = + (this->m[2][2]*this->m[1][1] - this->m[2][1]*this->m[1][2]);
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double t1 = - (this->m[2][2]*this->m[1][0] - this->m[2][0]*this->m[1][2]);
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double t2 = + (this->m[2][1]*this->m[1][0] - this->m[2][0]*this->m[1][1]);
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double invDet = 1 / (t0*this->m[0][0] + t1*this->m[0][1] + t2*this->m[0][2]);
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return invDet * Matrix3(
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t0,
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- (this->m[2][2]*this->m[0][1] - this->m[2][1]*this->m[0][2]),
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+ (this->m[1][2]*this->m[0][1] - this->m[1][1]*this->m[0][2]),
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t1,
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+ (this->m[2][2]*this->m[0][0] - this->m[2][0]*this->m[0][2]),
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- (this->m[1][2]*this->m[0][0] - this->m[1][0]*this->m[0][2]),
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t2,
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- (this->m[2][1]*this->m[0][0] - this->m[2][0]*this->m[0][1]),
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+ (this->m[1][1]*this->m[0][0] - this->m[1][0]*this->m[0][1]));
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}
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//////////////////////////////////////////////////
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bool Matrix3::operator==(const Matrix3 &_m) const
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{
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return math::equal(this->m[0][0], _m[0][0]) &&
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math::equal(this->m[0][1], _m[0][1]) &&
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math::equal(this->m[0][2], _m[0][2]) &&
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math::equal(this->m[1][0], _m[1][0]) &&
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math::equal(this->m[1][1], _m[1][1]) &&
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math::equal(this->m[1][2], _m[1][2]) &&
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math::equal(this->m[2][0], _m[2][0]) &&
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math::equal(this->m[2][1], _m[2][1]) &&
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math::equal(this->m[2][2], _m[2][2]);
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}
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