javax.robotics.vecmath
Class RMatrix4d

java.lang.Object
  javax.vecmath.Matrix4d
      javax.robotics.vecmath.RMatrix4d

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable

public class RMatrix4d
extends javax.vecmath.Matrix4d

A double precision floating point 4 by 4 matrix. Primarily to support 3D rotations and translations. This class extends printing functionality of Matrix4d class

Since:

1.0.1

Version:

5/10/2005

Author:

Carmine Lia

See Also:

Serialized Form

Field Summary

Fields inherited from class javax.vecmath.Matrix4d

m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33

Constructor Summary

RMatrix4d()
Constructs and initializes a Matrix4d to all zeros.

RMatrix4d(double[] matrix)
Constructs and initializes a Matrix4d from the specified 16 element array. this.m00 =matrix[0], this.m01=matrix[1], ... , this.m10=matrix[4], etc.

RMatrix4d(javax.vecmath.Matrix4d matrix)
Constructs a new matrix with the same values as the Matrix4d parameter.

RMatrix4d(Quaternion rot, RVector3d tr, double s)
Constructs and initializes a RMatrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.

RMatrix4d(RMatrix3d rot, RVector3d tr, double s)
Constructs and initializes a RMatrix4f from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.

RMatrix4d(RMatrix4d matrix)
Constructs a new matrix with the same values as the RMatrix4d parameter.

Method Summary

void	get(double[] matrix) Gets this matrix as mono dimensional array
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.
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.Matrix4d

add, add, add, add, clone, determinant, epsilonEquals, epsilonEquals, equals, equals, get, get, get, get, get, get, get, getColumn, getColumn, getElement, getRotationScale, getRotationScale, getRow, getRow, getScale, hashCode, invert, invert, mul, mul, mul, mul, mulTransposeBoth, mulTransposeLeft, mulTransposeRight, negate, negate, rotX, rotY, rotZ, set, set, set, set, set, set, set, set, set, set, set, set, set, set, set, set, set, set, setColumn, setColumn, setColumn, setElement, setIdentity, setRotation, setRotation, setRotation, setRotation, setRotation, setRotationScale, setRotationScale, setRow, setRow, setRow, setScale, setTranslation, setZero, sub, sub, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transpose, transpose

Methods inherited from class java.lang.Object

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

Constructor Detail

RMatrix4d

public RMatrix4d(javax.vecmath.Matrix4d matrix)

Constructs a new matrix with the same values as the Matrix4d parameter.

Parameters:

matrix - the source matrix

RMatrix4d

public RMatrix4d(RMatrix4d matrix)

Constructs a new matrix with the same values as the RMatrix4d parameter.

Parameters:

matrix - the source matrix

RMatrix4d

public RMatrix4d()

Constructs and initializes a Matrix4d to all zeros.

RMatrix4d

public RMatrix4d(double[] matrix)

Constructs and initializes a Matrix4d from the specified 16 element array. this.m00 =matrix[0], this.m01=matrix[1], ... , this.m10=matrix[4], etc.

Parameters:

matrix - the array of length 16 containing in order

RMatrix4d

public RMatrix4d(RMatrix3d rot,
                 RVector3d tr,
                 double s)

Constructs and initializes a RMatrix4f from the rotation matrix, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components of the matrix.

Parameters:

rot - the rotation matrix representing the rotational components

tr - the translational components of the matrix

s - the scale value applied to the rotational components

RMatrix4d

public RMatrix4d(Quaternion rot,
                 RVector3d tr,
                 double s)

Constructs and initializes a RMatrix4d from the quaternion, translation, and scale values; the scale is applied only to the rotational components of the matrix (upper 3x3) and not to the translational components.

Parameters:

rot - the quaternion value representing the rotational component

tr - the translational components of the matrix

s - the scale value applied to the rotational components

Method Detail

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.Matrix4d

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)

get

public void get(double[] matrix)

Gets this matrix as mono dimensional array

Parameters:

matrix - the array