Matrix4x4 Class Reference

#include <math/Matrix4x4.h>

Inherited by Frame, and GL_Frame.

Inheritance diagram for Matrix4x4:

[legend]List of all members.

Public Member Functions
	Matrix4x4 ()
virtual	~Matrix4x4 ()
Matrix4x4	operator * (const Matrix4x4 &right) const
Vector4	operator * (const Vector4 &right) const
Matrix4x4	Inverse () const
Matrix4x4 &	operator *= (const Matrix4x4 &right)
double &	operator() (const unsigned int row, const unsigned int col)
const double &	operator() (const unsigned int row, const unsigned int col) const
void	Scale (const double x, const double y, const double z)
void	Translate (const double x, const double y, const double z)
void	Rotate (const Vector4 &axis, double angle)
void	Rotate2 (const Vector4 &axis, double angle)
void	Translate (const Vector4 &offset)
Matrix4x4	Transpose () const
void	GetValuesOpenGl (double values[16])
void	SetValues (const double values[16])
void	SetValues (const Matrix4x4 &values)
bool	Compare (const Matrix4x4 &right, const double &tol) const
bool	operator< (const Matrix4x4 &right) const
bool	operator== (const Matrix4x4 &right) const
bool	operator!= (const Matrix4x4 &right) const
	operator Matrixmxn () const
Static Public Member Functions
static Matrix4x4	Identity ()
Public Attributes
double	values [4][4]

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Detailed Description

Definition at line 10 of file Matrix4x4.h.

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Constructor & Destructor Documentation

Matrix4x4::Matrix4x4 (   )

Definition at line 38 of file Matrix4x4.cpp. References values.

Matrix4x4::~Matrix4x4 (   )  [virtual]

Definition at line 63 of file Matrix4x4.cpp.

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Member Function Documentation

bool Matrix4x4::Compare (  const Matrix4x4 &  right, const double &  tol )  const

Definition at line 371 of file Matrix4x4.cpp. References values. Referenced by operator!=(), operator==(), and Pose::operator==().

void Matrix4x4::GetValuesOpenGl (  double  values[16]  )

Definition at line 179 of file Matrix4x4.cpp. Referenced by VrmlIndexedFaceSet::RenderOpenGl().

Matrix4x4 Matrix4x4::Identity (   )  [static]

Definition at line 192 of file Matrix4x4.cpp. Referenced by IK_Jacobian::ComputeHomogeneousTerm(), VrmlTranslation::Parse(), VrmlScaleOrientation::Parse(), VrmlScale::Parse(), VrmlRotation::Parse(), PL_MPEP::SetCollisionDetector(), IK_Jacobian::SetCollisionDetector(), PL_ForTest::SetCollisionDetector(), PL_PRM_ClosedJacobian::SetCollisionDetector(), PL_RRT_ClosedChain::SetCollisionDetector(), CPassive::SetRobot(), PL_RGD_PRM::UpdateOrientConstraint(), and PL_PRM_ClosedChain::UpdateOrientConstraint().

Matrix4x4 Matrix4x4::Inverse (   )  const

Definition at line 113 of file Matrix4x4.cpp. References values. Referenced by IK_ACA::ComputeEndEffDiff(), IK_Jacobian::ComputeEndEffVel(), CJacobian::GetJointFrame(), FrameManager::GetTransformRelative(), MPK_Sphere::IsInterfering(), MPK::Segment::IsInterfering(), and CPassive::ResolveJoints().

Vector4 Matrix4x4::operator * (  const Vector4 &  right  )  const

Definition at line 93 of file Matrix4x4.cpp. References values.

Matrix4x4 Matrix4x4::operator * (  const Matrix4x4 &  right  )  const

Definition at line 72 of file Matrix4x4.cpp. References values.

Matrix4x4 & Matrix4x4::operator *= (  const Matrix4x4 &  right  )

Definition at line 164 of file Matrix4x4.cpp.

Matrix4x4::operator Matrixmxn (   )  const

Definition at line 389 of file Matrix4x4.cpp. References values.

bool Matrix4x4::operator!= (  const Matrix4x4 &  right  )  const

Definition at line 355 of file Matrix4x4.cpp. References Compare(), and DEFAULT_TOL. Here is the call graph for this function:

const double & Matrix4x4::operator() (  const unsigned int  row, const unsigned int  col )  const [inline]

Definition at line 120 of file Matrix4x4.h. References values.

double & Matrix4x4::operator() (  const unsigned int  row, const unsigned int  col )  [inline]

Definition at line 113 of file Matrix4x4.h. References values. Referenced by SetValues().

bool Matrix4x4::operator< (  const Matrix4x4 &  right  )  const

Definition at line 344 of file Matrix4x4.cpp.

bool Matrix4x4::operator== (  const Matrix4x4 &  right  )  const

Definition at line 350 of file Matrix4x4.cpp. References Compare(), and DEFAULT_TOL. Here is the call graph for this function:

void Matrix4x4::Rotate (  const Vector4 &  axis, double  angle )

Definition at line 236 of file Matrix4x4.cpp. References CosDeg(), and SinDeg(). Referenced by VrmlRotation::Parse(), and PL_PRM_ClosedChain::UpdateOrientConstraint(). Here is the call graph for this function:

void Matrix4x4::Rotate2 (  const Vector4 &  axis, double  angle )

Definition at line 262 of file Matrix4x4.cpp. References CosDeg(), and SinDeg(). Referenced by PL_ATACE::GetNextPose(), and PL_RGD_PRM::UpdateOrientConstraint(). Here is the call graph for this function:

void Matrix4x4::Scale (  const double  x, const double  y, const double  z )

Definition at line 214 of file Matrix4x4.cpp. Referenced by VrmlScale::Parse().

void Matrix4x4::SetValues (  const Matrix4x4 &  values  )

Definition at line 310 of file Matrix4x4.cpp. References values.

void Matrix4x4::SetValues (  const double  values[16]  )

Definition at line 329 of file Matrix4x4.cpp. References operator()(). Referenced by R_OpenChain::AddToolFrame(), Pose::operator=(), Frame::operator=(), IGS_Mesh::Render(), CPassive::SetDesireEndEffect(), CPassive::SetEndEffectFrame(), CPassive::SetFirstFrame(), LinkBase::SetPositioningFrame(), CPassive::SetRobot(), and DH_Link::UpdateFrames(). Here is the call graph for this function:

void Matrix4x4::Translate (  const Vector4 &  offset  )

Definition at line 288 of file Matrix4x4.cpp. References Translate(). Here is the call graph for this function:

void Matrix4x4::Translate (  const double  x, const double  y, const double  z )

Definition at line 225 of file Matrix4x4.cpp. Referenced by ServerBase::AddObstacle(), IK_Jacobian::ComputeHomogeneousTerm(), PL_ATACE::GetNextPose(), VrmlTranslation::Parse(), and Translate().

Matrix4x4 Matrix4x4::Transpose (   )  const

Definition at line 295 of file Matrix4x4.cpp. Referenced by GL_Cylinder::DrawExplicit(), GL_Box::DrawExplicit(), and IGS_Mesh::Render().

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Member Data Documentation

double Matrix4x4::values[4][4]

Definition at line 78 of file Matrix4x4.h. Referenced by Range_Sensor::AddBoxToDepthMap(), Range_Sensor::AddCylinderToDepthMap(), Compare(), IK_ACA::ComputeEndEffDiff(), IK_Jacobian::ComputeEndEffVel(), GL_Range_Sensor::DrawExplicit(), GL_Cylinder::DrawExplicit(), GL_Box::DrawExplicit(), Range_Sensor::Generate_Ray_Array(), GL_Frame::GLDraw(), Inverse(), CD_Vcollide::IsInterfering(), Matrix4x4(), operator *(), operator Matrixmxn(), operator()(), Pose::SetTranslationVector(), SetValues(), and CPassive::Solution().

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

• math/Matrix4x4.h
• math/Matrix4x4.cpp

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