javax.robotics.vecmath
Class RMatrix3d

java.lang.Object
  javax.vecmath.Matrix3d
      javax.robotics.vecmath.RMatrix3d

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable

public class RMatrix3d
extends javax.vecmath.Matrix3d

A double precision floating point 3 by 3 matrix. Primarily to support 3D rotations. This class extends printing functionality of Matrix3d class.

Since:

1.0.1

Version:

5/10/2005

Author:

Carmine Lia

See Also:

Serialized Form

Field Summary

Fields inherited from class javax.vecmath.Matrix3d

m00, m01, m02, m10, m11, m12, m20, m21, m22

Constructor Summary

RMatrix3d()
Constructs and initializes a RMatrix3d to all zeros.

RMatrix3d(double[] matrix)
Constructs and initializes a RMatrix3d from the specified nine element array. this.m00=matrix[0], this.m01=matrix[1], ... , this.m10=matrix[3], etc.

RMatrix3d(javax.vecmath.Matrix3d matrix)
Constructs a new matrix with the same values as the Matrix3d parameter.

RMatrix3d(RMatrix3d matrix)
Constructs a new matrix with the same values as the RMatrix3d parameter.

Method Summary

Quaternion	getQuaternion() Get the quaternion from this matrix.
void	printf() Prints to standard out
void	printf(java.io.PrintStream out) Prints to PrintStream
void	printf(java.io.PrintStream out, java.lang.String format) Prints to PrintStream according to the format string
void	printf(java.lang.String format) Prints to standard out according to the format string.
void	S(RVector3d w) Gets S matrix.
java.lang.String	toString() Returns a string that contains the values of this RVector.
java.lang.String	toString(java.lang.String format) Returns a string that contains the values of this RVector, according to the format string

Methods inherited from class javax.vecmath.Matrix3d

add, add, add, add, clone, determinant, epsilonEquals, equals, equals, getColumn, getColumn, getElement, getRow, getRow, getScale, hashCode, invert, invert, mul, mul, mul, mul, mulNormalize, mulNormalize, mulTransposeBoth, mulTransposeLeft, mulTransposeRight, negate, negate, normalize, normalize, normalizeCP, normalizeCP, rotX, rotY, rotZ, set, set, set, set, set, set, set, set, setColumn, setColumn, setColumn, setElement, setIdentity, setRow, setRow, setRow, setScale, setZero, sub, sub, transform, transform, transpose, transpose

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

RMatrix3d

public RMatrix3d(javax.vecmath.Matrix3d matrix)

Constructs a new matrix with the same values as the Matrix3d parameter.

Parameters:

matrix - the 3 x 3 source matrix

RMatrix3d

public RMatrix3d(RMatrix3d matrix)

Constructs a new matrix with the same values as the RMatrix3d parameter.

Parameters:

matrix - the 3 x 3 source matrix

RMatrix3d

public RMatrix3d()

Constructs and initializes a RMatrix3d to all zeros.

RMatrix3d

public RMatrix3d(double[] matrix)

Constructs and initializes a RMatrix3d from the specified nine element array. this.m00=matrix[0], this.m01=matrix[1], ... , this.m10=matrix[3], etc.

Parameters:

matrix - the array of length 9 containing in order.

Method Detail

S

public void S(RVector3d w)

Gets S matrix. If R(t) is a rotation matrix the derivate prime R(t)^'= S(w(t))*R(t), w(t) angular velocity..

Parameters:

w - input vector

getQuaternion

public Quaternion getQuaternion()

Get the quaternion from this matrix.

Returns:

the quaternion

printf

public void printf()

Prints to standard out

printf

public void printf(java.lang.String format)

Prints to standard out according to the format string.

The format specifiers for numeric types have the following syntax:

 
  %[width][.precision]conversion
  
 

• The optional width is a non-negative decimal integer indicating the minimum number of characters to be written to the output.
• The optional precision is a non-negative decimal integer usually used to restrict the number of characters. The specific behavior depends on the conversion.
• The required conversion is a character indicating how the argument should be formatted. The set of valid conversions for a given argument depends on the argument's data type.

Example:
v.printf("%5.3f");

Parameters:

format - The format string

See Also:

PrintStream.format(java.lang.String, java.lang.Object[])

printf

public void printf(java.io.PrintStream out)

Prints to PrintStream

Parameters:

out - The PrintStream object.

printf

public void printf(java.io.PrintStream out,
                   java.lang.String format)

Prints to PrintStream according to the format string

Parameters:

out - The PrintStream object.

format - The format string.

See Also:

printf(String)

toString

public java.lang.String toString()

Returns a string that contains the values of this RVector.

Overrides:

toString in class javax.vecmath.Matrix3d

Returns:

The string.

toString

public java.lang.String toString(java.lang.String format)

Returns a string that contains the values of this RVector, according to the format string

Parameters:

format - The format string

Returns:

The string

See Also:

printf(String)