frcsim::Matrix3 Struct Reference

3x3 matrix type used for rotations and inertia-tensor operations. More...

#include <matrix.hpp>

Public Member Functions
constexpr	Matrix3 () noexcept
constexpr	Matrix3 (double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22) noexcept
double *	operator[] (size_t i)
const double *	operator[] (size_t i) const
constexpr Matrix3	operator+ (const Matrix3 &o) const noexcept
constexpr Matrix3	operator- (const Matrix3 &o) const noexcept
constexpr Matrix3	operator* (double s) const noexcept
Vector3	operator* (const Vector3 &v) const noexcept
Matrix3	operator* (const Matrix3 &o) const noexcept
Matrix3	transpose () const noexcept
double	determinant () const noexcept
bool	tryInverse (Matrix3 &out, double eps=std::numeric_limits< double >::epsilon()) const noexcept
Matrix3	inverse () const noexcept
bool	operator== (const Matrix3 &o) const noexcept
bool	operator!= (const Matrix3 &o) const noexcept

Static Public Member Functions
static constexpr Matrix3	identity () noexcept
static constexpr Matrix3	zero () noexcept
static Matrix3	fromQuaternion (const Quaternion &q) noexcept

Public Attributes
double	m [3][3]

Friends
std::ostream &	operator<< (std::ostream &os, const Matrix3 &mat)

Detailed Description

3x3 matrix type used for rotations and inertia-tensor operations.

Physics principle: linear transformations in 3D Euclidean space. In rigid dynamics this type is used for tensor transforms, inverse-inertia calculations, and basis changes between local and world frames.

Reference: https://en.wikipedia.org/wiki/Inertia_tensor

Constructor & Destructor Documentation

Matrix3() [1/2]

frcsim::Matrix3::Matrix3 ( )

inlineconstexprnoexcept

Matrix3() [2/2]

frcsim::Matrix3::Matrix3 ( double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22 )

inlineconstexprnoexcept

Member Function Documentation

determinant()

double frcsim::Matrix3::determinant ( ) const

inlinenoexcept

fromQuaternion()

Matrix3 frcsim::Matrix3::fromQuaternion ( const Quaternion & q )

inlinestaticnoexcept

identity()

constexpr Matrix3 frcsim::Matrix3::identity ( )

inlinestaticconstexprnoexcept

inverse()

Matrix3 frcsim::Matrix3::inverse ( ) const

inlinenoexcept

operator!=()

bool frcsim::Matrix3::operator!= ( const Matrix3 & o ) const

inlinenoexcept

operator*() [1/3]

Matrix3 frcsim::Matrix3::operator* ( const Matrix3 & o ) const

inlinenoexcept

operator*() [2/3]

Vector3 frcsim::Matrix3::operator* ( const Vector3 & v ) const

inlinenoexcept

operator*() [3/3]

Matrix3 frcsim::Matrix3::operator* ( double s ) const

inlineconstexprnoexcept

operator+()

Matrix3 frcsim::Matrix3::operator+ ( const Matrix3 & o ) const

inlineconstexprnoexcept

operator-()

Matrix3 frcsim::Matrix3::operator- ( const Matrix3 & o ) const

inlineconstexprnoexcept

operator==()

bool frcsim::Matrix3::operator== ( const Matrix3 & o ) const

inlinenoexcept

operator[]() [1/2]

double * frcsim::Matrix3::operator[] ( size_t i )

inline

operator[]() [2/2]

const double * frcsim::Matrix3::operator[] ( size_t i ) const

inline

transpose()

Matrix3 frcsim::Matrix3::transpose ( ) const

inlinenoexcept

tryInverse()

bool frcsim::Matrix3::tryInverse ( Matrix3 & out, double eps = std::numeric_limits<double>::epsilon() ) const

inlinenoexcept

zero()

constexpr Matrix3 frcsim::Matrix3::zero ( )

inlinestaticconstexprnoexcept

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream & os, const Matrix3 & mat )

friend

Member Data Documentation

m

double frcsim::Matrix3::m[3][3]

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

• src/main/driver/include/frcsim/math/matrix.hpp