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| Matrix3 () |
| | constructor
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| Matrix3 (MatrixBase< 3 > const &m) |
| | automatic conversion from MatrixBase<3>
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real | rotationAngle () const |
| | rotation angle
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void | getEulerAngles (real &angle, real &, real &) const |
| | calculate rotation angle and Euler angle of axis
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| MatrixBase () |
| | The default creator does not initialize.
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| MatrixBase (real v[SZ][SZ]) |
| | Copy-creator from a C-style array.
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| MatrixBase (real v[SZ *SZ]) |
| | Copy-creator from a Fortran-style array.
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virtual | ~MatrixBase () |
| | The default destructor does nothing.
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void | makeZero () |
| | set all components to zero
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void | makeIdentity () |
| | set to Identity (ones on the diagonal, zero elsewhere)
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| operator real * () |
| | conversion to a modifiable real array
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real & | operator() (const unsigned ii, const unsigned jj) |
| | access to modifiable elements of the matrix by (line, column)
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real & | operator[] (const unsigned ii) |
| | access to modifiable elements by index in the array
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void | getColumn (const unsigned jj, real vec[SZ]) const |
| | extract column vector at index jj
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void | setColumn (const unsigned jj, const real vec[SZ]) |
| | set column vector at index jj
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void | getLine (const unsigned ii, real vec[SZ]) const |
| | extract line vector at index ii
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void | setLine (const unsigned ii, const real vec[SZ]) |
| | set line vector at index ii
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MatrixBase | transposed () const |
| | return the transposed matrix
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void | transpose () |
| | transpose this matrix
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real | determinant () const |
| | return the determinant of the matrix
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MatrixBase | inverted () const |
| | return the inverse of the matrix
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void | inverse () |
| | replace by the inverse
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real | maxNorm () const |
| | maximum of all fabs(element)
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void | write (std::ostream &os) const |
| | formatted output
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real | maxDeviationFromRotation () const |
| | calculate a distance to the subspace of rotations = maxNorm( M'*M - Id )
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void | operator*= (const real a) |
| | multiply the matrix by the real scalar a
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void | operator/= (const real a) |
| | divide the matrix by the real scalar a
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void | operator+= (const MatrixBase m) |
| | add matrix m
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void | operator-= (const MatrixBase m) |
| | subtract matrix m
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void | vecMul (const real *in, real *out) const |
| | Vector multiplication: out <- M * in.
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void | vecMul (real *vec) const |
| | Vector multiplication: vec <- M * vec.
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static Matrix3 | rotationAroundAxisEuler (const real a[3]) |
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static Matrix3 | rotationFromEulerAngles (const real a[3]) |
| | return rotation of angle a, around axis of azimuth b and elevation c
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static Matrix3 | rotationAroundX (real angle) |
| | a rotation of angle a, around the X axis
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static Matrix3 | rotationAroundPrincipalAxis (unsigned axis, real angle) |
| | a rotation of angle a, around one of the main axis X, Y or Z
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static Matrix3 | rotationAroundAxis (const Vector3 &, real angle) |
| | a rotation around the given axis
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static Matrix3 | rotationAroundAxis (const Vector3 &) |
| | a rotation around the given axis, or angle=norm(x)
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static Matrix3 | rotationToVector (const Vector3 &) |
| | return a rotation that transforms (1,0,0) into vec ( norm(vec) should be > 0 )
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| static Matrix3 | rotationToVector (const Vector3 &, Random &) |
| | return a random rotation that transforms (1,0,0) into vec ( norm(vec) should be > 0 ) More...
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static Matrix3 | randomRotation (Random &) |
| | a random rotation chosen uniformly
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static MatrixBase | one () |
| | return identity matrix (ones on the diagonal, zero elsewhere)
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static MatrixBase | zero () |
| | return zero matrix
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static MatrixBase | projectionMatrix (const real V[]) |
| | build the projection matrix V * V'
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Public Member Functions inherited from MatrixBase< 3 >
1.8.9.1 
