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mi::math::Matrix< T, ROW, COL > Class Template Reference

NxM-dimensional matrix class template of fixed dimensions. More...

Inheritance diagram for mi::math::Matrix< T, ROW, COL >:
mi::math::Matrix_struct< T, ROW, COL >

Public Types

enum  Transposed_copy_tag { TRANSPOSED_COPY_TAG }
 Enum type used to tag a special copy constructor that transposes the matrix while copying. More...
 
typedef Matrix_struct< T, ROW,
COL > 
Pod_type
 POD class corresponding to this matrix. More...
 
typedef Matrix_struct< T, ROW,
COL > 
storage_type
 Storage class used by this matrix. More...
 
typedef T value_type
 Element type. More...
 
typedef Size size_type
 Size type, unsigned. More...
 
typedef Difference difference_type
 Difference type, signed. More...
 
typedef T * pointer
 Mutable pointer to element. More...
 
typedef const T * const_pointer
 Const pointer to element. More...
 
typedef T & reference
 Mutable reference to element. More...
 
typedef const T & const_reference
 Const reference to element. More...
 
typedef Vector< T, COL > Row_vector
 Associated row vector of dimension COL. More...
 
typedef Vector< T, ROW > Column_vector
 Associated column vector of dimension ROW. More...
 

Public Member Functions

T * begin ()
 Returns the pointer to the first matrix element. More...
 
T const * begin () const
 Returns the pointer to the first matrix element. More...
 
T * end ()
 Returns the past-the-end pointer. More...
 
T const * end () const
 Returns the past-the-end pointer. More...
 
Row_vectoroperator[] (Size row)
 Accesses the row-th row vector, 0 <= row < ROW. More...
 
const Row_vectoroperator[] (Size row) const
 Accesses the row-th row vector, 0 <= row < ROW. More...
 
 Matrix ()
 The default constructor leaves the vector elements uninitialized. More...
 
 Matrix (const Matrix_struct< T, ROW, COL > &other)
 Constructor from underlying storage type. More...
 
 Matrix (T diag)
 Constructor initializes all matrix elements to zero and the diagonal elements to diag. More...
 
template<typename Iterator >
 Matrix (From_iterator_tag, Iterator p)
 Constructor requires the mi::math::FROM_ITERATOR tag as first argument and initializes the matrix elements with the first ROW times COL elements from the sequence starting at the iterator p. More...
 
template<typename T2 >
 Matrix (T2 const (&array)[SIZE])
 Constructor initializes the matrix elements from an array of dimension ROW times COL. More...
 
template<typename T2 >
 Matrix (const Matrix< T2, ROW, COL > &other)
 Template constructor that allows explicit conversions from other matrices with assignment compatible element value type. More...
 
template<typename T2 >
 Matrix (const Matrix_struct< T2, ROW, COL > &other)
 Template constructor that allows explicit conversions from underlying storage type with assignment compatible element value type. More...
 
 Matrix (Transposed_copy_tag, const Matrix< T, COL, ROW > &other)
 Constructor that initializes the matrix with the transpose matrix of other. More...
 
template<typename T2 >
 Matrix (Transposed_copy_tag, const Matrix< T2, COL, ROW > &other)
 Template constructor that initializes the matrix with the transpose matrix of other that allows the explicit conversions from other matrices with assignment compatible element value type. More...
 
 Matrix (const Row_vector &v0)
 Dedicated constructor, for ROW==1 only, that initializes matrix from one row vector v0. More...
 
 Matrix (const Row_vector &v0, const Row_vector &v1)
 Dedicated constructor, for ROW==2 only, that initializes matrix from two row vectors (v0,v1). More...
 
 Matrix (const Row_vector &v0, const Row_vector &v1, const Row_vector &v2)
 Dedicated constructor, for ROW==3 only, that initializes matrix from three row vectors (v0,v1,v2). More...
 
 Matrix (const Row_vector &v0, const Row_vector &v1, const Row_vector &v2, const Row_vector &v3)
 Dedicated constructor, for ROW==4 only, that initializes matrix from four row vectors (v0,v1,v2,v3). More...
 
 Matrix (T m0, T m1)
 2-element constructor, must be a 1x2 or 2x1 matrix. More...
 
 Matrix (T m0, T m1, T m2)
 3-element constructor, must be a 1x3 or 3x1 matrix. More...
 
 Matrix (T m0, T m1, T m2, T m3)
 4-element constructor, must be a 1x4, 2x2, or 4x1 matrix. More...
 
 Matrix (T m0, T m1, T m2, T m3, T m4, T m5)
 6-element constructor, must be a 2x3 or 3x2 matrix. More...
 
 Matrix (T m0, T m1, T m2, T m3, T m4, T m5, T m6, T m7)
 8-element constructor, must be a 2x4 or 4x2 matrix. More...
 
 Matrix (T m0, T m1, T m2, T m3, T m4, T m5, T m6, T m7, T m8)
 9-element constructor, must be a 3x3 matrix. More...
 
 Matrix (T m0, T m1, T m2, T m3, T m4, T m5, T m6, T m7, T m8, T m9, T m10, T m11)
 12-element constructor, must be a 3x4 or 4x3 matrix. More...
 
 Matrix (T m0, T m1, T m2, T m3, T m4, T m5, T m6, T m7, T m8, T m9, T m10, T m11, T m12, T m13, T m14, T m15)
 16-element constructor, must be a 4x4 matrix. More...
 
Matrixoperator= (const Matrix &other)
 Assignment. More...
 
T & operator() (Size row, Size col)
 Accesses the (row,col)-th matrix element. More...
 
const T & operator() (Size row, Size col) const
 Accesses the (row, col)-th matrix element. More...
 
get (Size i) const
 Accesses the i-th matrix element, indexed in the order of the row-major memory layout. More...
 
get (Size row, Size col) const
 Accesses the (row, col)-th matrix element. More...
 
void set (Size i, T value)
 Sets the i-th matrix element to value, indexed in the order of the row-major memory layout. More...
 
void set (Size row, Size col, T value)
 Sets the i-th matrix element to value, indexed in the order of the row-major memory layout. More...
 
det33 () const
 Returns the determinant of the upper-left 3x3 sub-matrix. More...
 
bool invert ()
 Inverts this matrix and returns success or failure. More...
 
void transpose ()
 Transposes this matrix by exchanging rows and columns. More...
 
void translate (T x, T y, T z)
 Adds a relative translation to the matrix (by components). More...
 
void translate (const Vector< Float32, 3 > &vector)
 Adds a relative translation to the matrix (by vector). More...
 
void translate (const Vector< Float64, 3 > &vector)
 Adds a relative translation to the matrix (by vector). More...
 
void set_translation (T dx, T dy, T dz)
 Stores an absolute translation in the matrix (by component). More...
 
void set_translation (const Vector< Float32, 3 > &vector)
 Stores an absolute translation in the matrix (by vector). More...
 
void set_translation (const Vector< Float64, 3 > &vector)
 Stores an absolute translation in the matrix (by vector). More...
 
void rotate (T xangle, T yangle, T zangle)
 Adds a relative rotation to the matrix (Euler angles, by component). More...
 
void rotate (const Vector< Float32, 3 > &angles)
 Adds a relative rotation to the matrix (Euler angles, by vector). More...
 
void rotate (const Vector< Float64, 3 > &angles)
 Adds a relative rotation to the matrix (Euler angles, by vector). More...
 
void set_rotation (T x_angle, T y_angle, T z_angle)
 Stores an absolute rotation in the upper left 3x3 rotation matrix (Euler angles, by component). More...
 
void set_rotation (const Vector< Float32, 3 > &angles)
 Stores an absolute rotation in the upper left 3x3 rotation matrix (Euler angles, by vector). More...
 
void set_rotation (const Vector< Float64, 3 > &angles)
 Stores an absolute rotation in the upper left 3x3 rotation matrix (Euler angles, by vector). More...
 
void set_rotation (const Vector< Float32, 3 > &axis, Float64 angle)
 Stores an absolute rotation (by axis and angle). More...
 
void set_rotation (const Vector< Float64, 3 > &axis, Float64 angle)
 Stores an absolute rotation (by axis and angle). More...
 
void lookat (const Vector< Float32, 3 > &position, const Vector< Float32, 3 > &target, const Vector< Float32, 3 > &up)
 Sets a transformation matrix based on a given center, a reference point, and a direction. More...
 
void lookat (const Vector< Float64, 3 > &position, const Vector< Float64, 3 > &target, const Vector< Float64, 3 > &up)
 Sets a transformation matrix based on a given center, a reference point, and a direction. More...
 

Static Public Member Functions

static Size size ()
 Constant size of the vector. More...
 
static Size max_size ()
 Constant maximum size of the vector. More...
 

Static Public Attributes

static const Size ROWS = ROW
 Constant number of rows of the matrix. More...
 
static const Size COLUMNS = COL
 Constant number of columns of the matrix. More...
 
static const Size SIZE = ROW*COL
 Constant size of the matrix. More...
 

Additional Inherited Members

- Public Attributes inherited from mi::math::Matrix_struct< T, ROW, COL >
elements [ROW *COL]
 general case matrix elements. More...
 

Detailed Description

template<typename T, Size ROW, Size COL>
class mi::math::Matrix< T, ROW, COL >

NxM-dimensional matrix class template of fixed dimensions.

This class template provides array-like storage for ROW times COL many values of a (arithmetic) type T. Several functions and arithmetic operators support the work with matrices.

The template parameters have the following requirements:

  • T: an arithmetic type supporting + - * / == != < > <= >= sqrt() .
  • ROW: a value > 0 of type mi::Size that defines the fixed number of rows in the matrix.
  • COL: a value > 0 of type mi::Size that defines the fixed number of columns in the matrix.

An instantiation of the matrix class template is a model of the STL container concept. It provides random access to its elements and corresponding random access iterators.

Depending on the dimensions ROW and COL, the mi::math::Matrix class template offers element access through the conventional data members named xx, xy, xz, xw, yx, yy, ..., wx, wy, wz, ww. The first letter denotes the row, the second letter the column. The following example, which, for the sake of illustration, defines a transformation matrix with a factor two scaling transformation:

mat.xx = 2.0;
mat.yy = 2.0;
mat.zz = 2.0;
mat.ww = 1.0;
Memory layout:
Matrices are stored in row-major order, which says that the memory layout of a 4x4 matrix will be sequentially in memory xx, xy, xz, xw, yx, yy, ..., wx, wy, wz, ww.
Note
The matrix interpretation as a transformation is done by mi::math::transform_point(const Matrix<T,4,4>&,const Vector<U,4>&) and related functions. The convention if vectors are row vectors and multiplied from the left with matrices, or column vectors and multiplied from the right with matrices, determines where the different parameters of a transformation are actually stored in the matrix.
The matrix iterators access the matrix elements, however, the access operator[] accesses row vectors, which follows the interpretation of the matrix as a vector of row vectors in accordance with its underlying row-major memory layout.
See Also
For the free functions and operators available for matrices see Matrix Class.
The underlying POD type mi::math::Matrix_struct.

Member Typedef Documentation

template<typename T, Size ROW, Size COL>
typedef Vector<T,ROW> mi::math::Matrix< T, ROW, COL >::Column_vector

Associated column vector of dimension ROW.

template<typename T, Size ROW, Size COL>
typedef const T* mi::math::Matrix< T, ROW, COL >::const_pointer

Const pointer to element.

template<typename T, Size ROW, Size COL>
typedef const T& mi::math::Matrix< T, ROW, COL >::const_reference

Const reference to element.

template<typename T, Size ROW, Size COL>
typedef Difference mi::math::Matrix< T, ROW, COL >::difference_type

Difference type, signed.

template<typename T, Size ROW, Size COL>
typedef Matrix_struct<T,ROW,COL> mi::math::Matrix< T, ROW, COL >::Pod_type

POD class corresponding to this matrix.

template<typename T, Size ROW, Size COL>
typedef T* mi::math::Matrix< T, ROW, COL >::pointer

Mutable pointer to element.

template<typename T, Size ROW, Size COL>
typedef T& mi::math::Matrix< T, ROW, COL >::reference

Mutable reference to element.

template<typename T, Size ROW, Size COL>
typedef Vector<T,COL> mi::math::Matrix< T, ROW, COL >::Row_vector

Associated row vector of dimension COL.

template<typename T, Size ROW, Size COL>
typedef Size mi::math::Matrix< T, ROW, COL >::size_type

Size type, unsigned.

template<typename T, Size ROW, Size COL>
typedef Matrix_struct<T,ROW,COL> mi::math::Matrix< T, ROW, COL >::storage_type

Storage class used by this matrix.

template<typename T, Size ROW, Size COL>
typedef T mi::math::Matrix< T, ROW, COL >::value_type

Element type.

Member Enumeration Documentation

template<typename T, Size ROW, Size COL>
enum mi::math::Matrix::Transposed_copy_tag

Enum type used to tag a special copy constructor that transposes the matrix while copying.

Enumerator
TRANSPOSED_COPY_TAG 

Enum value used to call a special copy constructor that transposes the matrix while copying.

Constructor & Destructor Documentation

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( )
inline

The default constructor leaves the vector elements uninitialized.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( const Matrix_struct< T, ROW, COL > &  other)
inline

Constructor from underlying storage type.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( diag)
inlineexplicit

Constructor initializes all matrix elements to zero and the diagonal elements to diag.

Examples are diag==0 to create the null matrix and diag==1 to create the unit matrix.

Parameters
diagvalue for diagonal elements.
template<typename T, Size ROW, Size COL>
template<typename Iterator >
mi::math::Matrix< T, ROW, COL >::Matrix ( From_iterator_tag  ,
Iterator  p 
)
inline

Constructor requires the mi::math::FROM_ITERATOR tag as first argument and initializes the matrix elements with the first ROW times COL elements from the sequence starting at the iterator p.

Iterator must be a model of an input iterator. The value type of Iterator must be assignment compatible with the matrix elements type T.

An example:

std::vector<int> data( 42, 42); // 42 elements of value 42
template<typename T, Size ROW, Size COL>
template<typename T2 >
mi::math::Matrix< T, ROW, COL >::Matrix ( T2 const (&)  array[SIZE])
inlineexplicit

Constructor initializes the matrix elements from an array of dimension ROW times COL.

The value type T2 of the array must be assignment compatible with the matrix elements type T.

An example that initializes a 2x2 unit matrix from an array:

int data[4] = { 1, 0, 0, 1};
template<typename T, Size ROW, Size COL>
template<typename T2 >
mi::math::Matrix< T, ROW, COL >::Matrix ( const Matrix< T2, ROW, COL > &  other)
inlineexplicit

Template constructor that allows explicit conversions from other matrices with assignment compatible element value type.

template<typename T, Size ROW, Size COL>
template<typename T2 >
mi::math::Matrix< T, ROW, COL >::Matrix ( const Matrix_struct< T2, ROW, COL > &  other)
inlineexplicit

Template constructor that allows explicit conversions from underlying storage type with assignment compatible element value type.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( Transposed_copy_tag  ,
const Matrix< T, COL, ROW > &  other 
)
inline

Constructor that initializes the matrix with the transpose matrix of other.

template<typename T, Size ROW, Size COL>
template<typename T2 >
mi::math::Matrix< T, ROW, COL >::Matrix ( Transposed_copy_tag  ,
const Matrix< T2, COL, ROW > &  other 
)
inline

Template constructor that initializes the matrix with the transpose matrix of other that allows the explicit conversions from other matrices with assignment compatible element value type.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( const Row_vector v0)
inlineexplicit

Dedicated constructor, for ROW==1 only, that initializes matrix from one row vector v0.

Precondition
ROW == 1
template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( const Row_vector v0,
const Row_vector v1 
)
inline

Dedicated constructor, for ROW==2 only, that initializes matrix from two row vectors (v0,v1).

Precondition
ROW == 2
template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( const Row_vector v0,
const Row_vector v1,
const Row_vector v2 
)
inline

Dedicated constructor, for ROW==3 only, that initializes matrix from three row vectors (v0,v1,v2).

Precondition
ROW == 3
template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( const Row_vector v0,
const Row_vector v1,
const Row_vector v2,
const Row_vector v3 
)
inline

Dedicated constructor, for ROW==4 only, that initializes matrix from four row vectors (v0,v1,v2,v3).

Precondition
ROW == 4
template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( m0,
m1 
)
inline

2-element constructor, must be a 1x2 or 2x1 matrix.

The elements are given in row-major order.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( m0,
m1,
m2 
)
inline

3-element constructor, must be a 1x3 or 3x1 matrix.

The elements are given in row-major order.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( m0,
m1,
m2,
m3 
)
inline

4-element constructor, must be a 1x4, 2x2, or 4x1 matrix.

The elements are given in row-major order.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( m0,
m1,
m2,
m3,
m4,
m5 
)
inline

6-element constructor, must be a 2x3 or 3x2 matrix.

The elements are given in row-major order.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( m0,
m1,
m2,
m3,
m4,
m5,
m6,
m7 
)
inline

8-element constructor, must be a 2x4 or 4x2 matrix.

The elements are given in row-major order.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( m0,
m1,
m2,
m3,
m4,
m5,
m6,
m7,
m8 
)
inline

9-element constructor, must be a 3x3 matrix.

The elements are given in row-major order.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( m0,
m1,
m2,
m3,
m4,
m5,
m6,
m7,
m8,
m9,
m10,
m11 
)
inline

12-element constructor, must be a 3x4 or 4x3 matrix.

The elements are given in row-major order.

template<typename T, Size ROW, Size COL>
mi::math::Matrix< T, ROW, COL >::Matrix ( m0,
m1,
m2,
m3,
m4,
m5,
m6,
m7,
m8,
m9,
m10,
m11,
m12,
m13,
m14,
m15 
)
inline

16-element constructor, must be a 4x4 matrix.

The elements are given in row-major order.

Member Function Documentation

template<typename T, Size ROW, Size COL>
T* mi::math::Matrix< T, ROW, COL >::begin ( )
inline

Returns the pointer to the first matrix element.

template<typename T, Size ROW, Size COL>
T const* mi::math::Matrix< T, ROW, COL >::begin ( ) const
inline

Returns the pointer to the first matrix element.

template<typename T, Size ROW, Size COL>
T mi::math::Matrix< T, ROW, COL >::det33 ( ) const
inline

Returns the determinant of the upper-left 3x3 sub-matrix.

Precondition
(ROW==3 or ROW==4) and (COL==3 or COL==4)
template<typename T, Size ROW, Size COL>
T* mi::math::Matrix< T, ROW, COL >::end ( )
inline

Returns the past-the-end pointer.

The range [begin(),end()) forms the range over all ROW times COL many matrix elements.

template<typename T, Size ROW, Size COL>
T const* mi::math::Matrix< T, ROW, COL >::end ( ) const
inline

Returns the past-the-end pointer.

The range [begin(),end()) forms the range over all ROW times COL many matrix elements.

template<typename T, Size ROW, Size COL>
T mi::math::Matrix< T, ROW, COL >::get ( Size  i) const
inline

Accesses the i-th matrix element, indexed in the order of the row-major memory layout.

Precondition
0 <= i < ROW*COL
template<typename T, Size ROW, Size COL>
T mi::math::Matrix< T, ROW, COL >::get ( Size  row,
Size  col 
) const
inline

Accesses the (row, col)-th matrix element.

Precondition
0 <= row < ROW and 0 <= col < COL
template<typename T, Size ROW, Size COL>
bool mi::math::Matrix< T, ROW, COL >::invert ( )
inline

Inverts this matrix and returns success or failure.

The matrix cannot be inverted if it is singular or if it is non-square.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::lookat ( const Vector< Float32, 3 > &  position,
const Vector< Float32, 3 > &  target,
const Vector< Float32, 3 > &  up 
)
inline

Sets a transformation matrix based on a given center, a reference point, and a direction.

The transformation is computed such that position is mapped to the origin, target is mapped to the negative Z-axis, and the up direction is mapped to the positive Y-axis.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::lookat ( const Vector< Float64, 3 > &  position,
const Vector< Float64, 3 > &  target,
const Vector< Float64, 3 > &  up 
)
inline

Sets a transformation matrix based on a given center, a reference point, and a direction.

The transformation is computed such that the origin is mapped to position, the negative Z-axis is mapped to the target direction, and the positive Y-axis is mapped to the up direction.

template<typename T, Size ROW, Size COL>
static Size mi::math::Matrix< T, ROW, COL >::max_size ( )
inlinestatic

Constant maximum size of the vector.

template<typename T, Size ROW, Size COL>
T& mi::math::Matrix< T, ROW, COL >::operator() ( Size  row,
Size  col 
)
inline

Accesses the (row,col)-th matrix element.

Precondition
0 <= row < ROW and 0 <= col < COL
template<typename T, Size ROW, Size COL>
const T& mi::math::Matrix< T, ROW, COL >::operator() ( Size  row,
Size  col 
) const
inline

Accesses the (row, col)-th matrix element.

Precondition
0 <= row < ROW and 0 <= col < COL
template<typename T, Size ROW, Size COL>
Matrix& mi::math::Matrix< T, ROW, COL >::operator= ( const Matrix< T, ROW, COL > &  other)
inline

Assignment.

template<typename T, Size ROW, Size COL>
Row_vector& mi::math::Matrix< T, ROW, COL >::operator[] ( Size  row)
inline

Accesses the row-th row vector, 0 <= row < ROW.

template<typename T, Size ROW, Size COL>
const Row_vector& mi::math::Matrix< T, ROW, COL >::operator[] ( Size  row) const
inline

Accesses the row-th row vector, 0 <= row < ROW.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::rotate ( xangle,
yangle,
zangle 
)
inline

Adds a relative rotation to the matrix (Euler angles, by component).

The rotation is given by XYZ Euler angles (in radians). The elements in the last column of the matrix remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::rotate ( const Vector< Float32, 3 > &  angles)
inline

Adds a relative rotation to the matrix (Euler angles, by vector).

The rotation is given by XYZ Euler angles (in radians). The elements in the last column of the matrix remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::rotate ( const Vector< Float64, 3 > &  angles)
inline

Adds a relative rotation to the matrix (Euler angles, by vector).

The rotation is given by XYZ Euler angles (in radians). The elements in the last column of the matrix remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set ( Size  i,
value 
)
inline

Sets the i-th matrix element to value, indexed in the order of the row-major memory layout.

Precondition
0 <= i < ROW*COL
template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set ( Size  row,
Size  col,
value 
)
inline

Sets the i-th matrix element to value, indexed in the order of the row-major memory layout.

Precondition
0 <= row < ROW and 0 <= col < COL
template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set_rotation ( x_angle,
y_angle,
z_angle 
)
inline

Stores an absolute rotation in the upper left 3x3 rotation matrix (Euler angles, by component).

The rotation is given by XYZ Euler angles (in radians). The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set_rotation ( const Vector< Float32, 3 > &  angles)
inline

Stores an absolute rotation in the upper left 3x3 rotation matrix (Euler angles, by vector).

The rotation is given by XYZ Euler angles (in radians). The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set_rotation ( const Vector< Float64, 3 > &  angles)
inline

Stores an absolute rotation in the upper left 3x3 rotation matrix (Euler angles, by vector).

The rotation is given by XYZ Euler angles (in radians). The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set_rotation ( const Vector< Float32, 3 > &  axis,
Float64  angle 
)
inline

Stores an absolute rotation (by axis and angle).

The computed rotation matrix describes a rotation by the given angle (in radians) around the given axis. The other matrix elements are set to 0 and 1, respectively.

Precondition
axis is normalized
template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set_rotation ( const Vector< Float64, 3 > &  axis,
Float64  angle 
)
inline

Stores an absolute rotation (by axis and angle).

The computed rotation matrix describes a rotation by the given angle (in radians) around the given axis. The other matrix elements are set to 0 and 1, respectively.

Precondition
axis is normalized
template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set_translation ( dx,
dy,
dz 
)
inline

Stores an absolute translation in the matrix (by component).

The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set_translation ( const Vector< Float32, 3 > &  vector)
inline

Stores an absolute translation in the matrix (by vector).

The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::set_translation ( const Vector< Float64, 3 > &  vector)
inline

Stores an absolute translation in the matrix (by vector).

The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
static Size mi::math::Matrix< T, ROW, COL >::size ( )
inlinestatic

Constant size of the vector.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::translate ( x,
y,
z 
)
inline

Adds a relative translation to the matrix (by components).

The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::translate ( const Vector< Float32, 3 > &  vector)
inline

Adds a relative translation to the matrix (by vector).

The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::translate ( const Vector< Float64, 3 > &  vector)
inline

Adds a relative translation to the matrix (by vector).

The other matrix elements remain unchanged.

template<typename T, Size ROW, Size COL>
void mi::math::Matrix< T, ROW, COL >::transpose ( )
inline

Transposes this matrix by exchanging rows and columns.

Precondition
ROW==COL

For transposing non-square matrices see the mi::math::transpose() function.

Member Data Documentation

template<typename T, Size ROW, Size COL>
const Size mi::math::Matrix< T, ROW, COL >::COLUMNS = COL
static

Constant number of columns of the matrix.

template<typename T, Size ROW, Size COL>
const Size mi::math::Matrix< T, ROW, COL >::ROWS = ROW
static

Constant number of rows of the matrix.

template<typename T, Size ROW, Size COL>
const Size mi::math::Matrix< T, ROW, COL >::SIZE = ROW*COL
static

Constant size of the matrix.