213 lines
7.2 KiB
C++
213 lines
7.2 KiB
C++
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/*
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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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#ifndef _MATRIX3_HH_
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#define _MATRIX3_HH_
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#include <assert.h>
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace math
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{
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/// \addtogroup gazebo_math
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/// \{
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/// \class Matrix3 Matrix3hh math/gzmath.hh
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/// \brief A 3x3 matrix class
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class GZ_MATH_VISIBLE Matrix3
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{
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/// \brief Constructor
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public: Matrix3();
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/// \brief Copy constructor
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/// \param _m Matrix to copy
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public: Matrix3(const Matrix3 &_m);
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/// \brief Constructor
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/// \param[in] _v00 Row 0, Col 0 value
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/// \param[in] _v01 Row 0, Col 1 value
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/// \param[in] _v02 Row 0, Col 2 value
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/// \param[in] _v10 Row 1, Col 0 value
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/// \param[in] _v11 Row 1, Col 1 value
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/// \param[in] _v12 Row 1, Col 2 value
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/// \param[in] _v20 Row 2, Col 0 value
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/// \param[in] _v21 Row 2, Col 1 value
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/// \param[in] _v22 Row 2, Col 2 value
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public: 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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/// \brief Desctructor
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public: virtual ~Matrix3();
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/// \brief Set the matrix from three axis (1 per column)
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/// \param[in] _xAxis The x axis
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/// \param[in] _yAxis The y axis
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/// \param[in] _zAxis The z axis
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public: void SetFromAxes(const Vector3 &_xAxis,
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const Vector3 &_yAxis,
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const Vector3 &_zAxis);
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/// \brief Set the matrix from an axis and angle
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/// \param[in] _axis the axis
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/// \param[in] _angle ccw rotation around the axis in radians
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public: void SetFromAxis(const Vector3 &_axis, double _angle);
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/// \brief Set a column
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/// \param[in] _c The colum index (0, 1, 2)
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/// \param[in] _v The value to set in each row of the column
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public: void SetCol(unsigned int _c, const Vector3 &_v);
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/// \brief Return the inverse matrix
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/// \return Inverse of this matrix.
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public: Matrix3 Inverse() const;
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/// \brief returns the element wise difference of two matrices
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public: Matrix3 operator-(const Matrix3 &_m) const
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{
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return Matrix3(
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// first row
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this->m[0][0]-_m[0][0], this->m[0][1]-_m[0][1], this->m[0][2]-_m[0][2],
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this->m[1][0]-_m[1][0], this->m[1][1]-_m[1][1], this->m[1][2]-_m[1][2],
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this->m[2][0]-_m[2][0], this->m[2][1]-_m[2][1], this->m[2][2]-_m[2][2]);
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}
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/// \brief returns the element wise sum of two matrices
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public: Matrix3 operator+(const Matrix3 &_m) const
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{
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return Matrix3(
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// first row
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this->m[0][0]+_m[0][0], this->m[0][1]+_m[0][1], this->m[0][2]+_m[0][2],
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this->m[1][0]+_m[1][0], this->m[1][1]+_m[1][1], this->m[1][2]+_m[1][2],
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this->m[2][0]+_m[2][0], this->m[2][1]+_m[2][1], this->m[2][2]+_m[2][2]);
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}
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/// \brief returns the element wise scalar multiplication
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public: Matrix3 operator*(const double &_s) const
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{
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return Matrix3(
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// first row
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_s * this->m[0][0], _s * this->m[0][1], _s * this->m[0][2],
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_s * this->m[1][0], _s * this->m[1][1], _s * this->m[1][2],
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_s * this->m[2][0], _s * this->m[2][1], _s * this->m[2][2]);
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}
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/// \brief Multiplication operators
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/// \param[in] _s the scaling factor
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/// \param[in] _m input matrix
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/// \return a scaled matrix
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public: friend inline Matrix3 operator*(double _s,
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const Matrix3 &_m)
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{ return _m * _s; }
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/// \brief Matrix multiplication operator
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/// \param[in] _m Matrix3 to multiply
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/// \return product of this * _m
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public: Matrix3 operator*(const Matrix3 &_m) const
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{
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return Matrix3(
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// first row
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this->m[0][0]*_m[0][0]+this->m[0][1]*_m[1][0]+this->m[0][2]*_m[2][0],
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this->m[0][0]*_m[0][1]+this->m[0][1]*_m[1][1]+this->m[0][2]*_m[2][1],
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this->m[0][0]*_m[0][2]+this->m[0][1]*_m[1][2]+this->m[0][2]*_m[2][2],
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// second row
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this->m[1][0]*_m[0][0]+this->m[1][1]*_m[1][0]+this->m[1][2]*_m[2][0],
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this->m[1][0]*_m[0][1]+this->m[1][1]*_m[1][1]+this->m[1][2]*_m[2][1],
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this->m[1][0]*_m[0][2]+this->m[1][1]*_m[1][2]+this->m[1][2]*_m[2][2],
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// third row
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this->m[2][0]*_m[0][0]+this->m[2][1]*_m[1][0]+this->m[2][2]*_m[2][0],
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this->m[2][0]*_m[0][1]+this->m[2][1]*_m[1][1]+this->m[2][2]*_m[2][1],
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this->m[2][0]*_m[0][2]+this->m[2][1]*_m[1][2]+this->m[2][2]*_m[2][2]);
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}
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/// \brief Equality test operator
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/// \param[in] _m Matrix3 to test
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/// \return True if equal (using the default tolerance of 1e-6)
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public: bool operator==(const Matrix3 &_m) const;
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/// \brief Matrix times Vector3 operator
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/// \param[in] _v a Vector3
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/// \return this * _v
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public: inline math::Vector3 operator*(const math::Vector3 &_v) const
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{
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return math::Vector3(
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this->m[0][0]*_v.x + this->m[0][1]*_v.y + this->m[0][2]*_v.z,
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this->m[1][0]*_v.x + this->m[1][1]*_v.y + this->m[1][2]*_v.z,
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this->m[2][0]*_v.x + this->m[2][1]*_v.y + this->m[2][2]*_v.z);
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}
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/// \brief Array subscript operator
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/// \param[in] _row row index
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/// \return a pointer to the row
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public: inline const double *operator[](size_t _row) const
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{
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assert(_row < 3);
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return this->m[_row];
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}
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/// \brief Array subscript operator
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/// \param[in] _row row index
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/// \return a pointer to the row
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public: inline double *operator[](size_t _row)
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{
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assert(_row < 3);
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return this->m[_row];
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}
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/// \brief Stream insertion operator
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/// \param[in] _out Output stream
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/// \param[in] _m Matrix to output
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/// \return the stream
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public: friend std::ostream &operator<<(std::ostream &_out,
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const gazebo::math::Matrix3 &_m)
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{
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for (int i = 0; i < 3; i++)
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{
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for (int j = 0; j < 3; j++)
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{
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_out << _m.m[i][j] << " ";
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}
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_out << "\n";
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}
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return _out;
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}
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/// \brief Identity matrix
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public: static const Matrix3 IDENTITY;
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/// \brief Zero matrix
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public: static const Matrix3 ZERO;
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/// \brief the 3x3 matrix
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protected: double m[3][3];
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friend class Matrix4;
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};
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/// \}
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}
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}
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#endif
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