maspack.matrix
Class Matrix3d

java.lang.Object
  maspack.matrix.MatrixObject
      maspack.matrix.Matrix3dObject
          maspack.matrix.Matrix3d

All Implemented Interfaces:

java.io.Serializable

public class Matrix3d

extends Matrix3dObject

A general 3 x 3 matrix with the elements stored as explicit fields.

See Also:

Serialized Form

Field Summary

Fields inherited from class maspack.matrix.Matrix3dObject

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

Constructor Summary

Matrix3d()
Creates a matrix and initializes it to zero.

Matrix3d(double[] vals)
Creates a matrix and initializes its elements from an array of values.

Matrix3d(Matrix3dObject M)
Creates a matrix and initializes its elements to those of the matrix M.

Method Summary

void	add(Matrix3dObject M1) Adds this matrix to M1 and places the result in this matrix.
void	add(Matrix3dObject M1, Matrix3dObject M2) Adds matrix M1 to M2 and places the result in this matrix.
boolean	invert() Inverts this matrix in place, returning false if the matrix is detected to be singular. The inverse is computed using an unrolled LU decomposition with partial pivoting.
boolean	invert(Matrix3dObject M) Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular. The inverse is computed using an unrolled LU decomposition with partial pivoting.
static void	main(java.lang.String[] args)
void	mul(Matrix3dObject M1) Multiplies this matrix by M1 and places the result in this matrix.
void	mul(Matrix3dObject M1, Matrix3dObject M2) Multiplies matrix M1 by M2 and places the result in this matrix.
boolean	mulInverse(Matrix3dObject M1) Multiplies this matrix by the inverse of M1 and places the result in this matrix.
boolean	mulInverseBoth(Matrix3dObject M1, Matrix3dObject M2) Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.
boolean	mulInverseLeft(Matrix3dObject M1, Matrix3dObject M2) Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.
boolean	mulInverseRight(Matrix3dObject M1, Matrix3dObject M2) Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.
void	mulTranspose(Matrix3dObject M1) Multiplies this matrix by the transpose of M1 and places the result in this matrix.
void	mulTransposeBoth(Matrix3dObject M1, Matrix3dObject M2) Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.
void	mulTransposeLeft(Matrix3dObject M1, Matrix3dObject M2) Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.
void	mulTransposeRight(Matrix3dObject M1, Matrix3dObject M2) Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.
void	negate(Matrix3dObject M1) Sets this matrix to the negative of M1.
void	scale(double s) Scales the elements of this matrix by s.
void	scale(double s, Matrix3dObject M1) Scales the elements of matrix M1 by s and places the results in this matrix.
void	setDiagonal(double[] vals) Sets this matrix to a diagonal matrix whose values are specified by the array vals.
void	setDiagonal(Vector3d diag) Sets this matrix to a diagonal matrix whose values are specified by diag.
void	setRandom() Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).
void	setRandom(double lower, double upper) Sets the elements of this matrix to uniformly distributed random values in a specified range.
void	setRandom(double lower, double upper, java.util.Random generator) Sets the elements of this matrix to uniformly distributed random values in a specified range, using a supplied random number generator.
void	setZero() Sets the elements of this matrix to zero.
void	sub(Matrix3dObject M1) Subtracts this matrix from M1 and places the result in this matrix.
void	sub(Matrix3dObject M1, Matrix3dObject M2) Subtracts matrix M1 from M2 and places the result in this matrix.
void	transpose(Matrix3dObject M1) Takes the transpose of matrix M1 and places the result in this matrix.

Methods inherited from class maspack.matrix.Matrix3dObject

colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, getColumn, getColumn, getRow, getRow, infinityNorm, mul, mul, mulInverse, mulInverse, mulInverseTranspose, mulInverseTranspose, mulTranspose, mulTranspose, negate, oneNorm, rowSize, set, set, set, setColumn, setColumn, setIdentity, setRow, setRow, transpose

Methods inherited from class maspack.matrix.MatrixObject

epsilonEquals, equals, equals, get, getColumn, getRow, isFixedSize, scan, set, set, setColumn, setRow, setSize, toString, toString, toString

Methods inherited from class java.lang.Object

getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Matrix3d

public Matrix3d()

Creates a matrix and initializes it to zero.

Matrix3d

public Matrix3d(double[] vals)

Creates a matrix and initializes its elements from an array of values.

Parameters:

vals - element values for the matrix, with element (i,j) stored at location i*3+j

Matrix3d

public Matrix3d(Matrix3dObject M)

Creates a matrix and initializes its elements to those of the matrix M.

Parameters:

M - matrix object to be copied.

Method Detail

mul

public void mul(Matrix3dObject M1)

Multiplies this matrix by M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

mul

public void mul(Matrix3dObject M1,
                Matrix3dObject M2)

Multiplies matrix M1 by M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

mulTranspose

public void mulTranspose(Matrix3dObject M1)

Multiplies this matrix by the transpose of M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

mulTransposeLeft

public void mulTransposeLeft(Matrix3dObject M1,
                             Matrix3dObject M2)

Multiplies the transpose of matrix M1 by M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

mulTransposeRight

public void mulTransposeRight(Matrix3dObject M1,
                              Matrix3dObject M2)

Multiplies matrix M1 by the transpose of M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

mulTransposeBoth

public void mulTransposeBoth(Matrix3dObject M1,
                             Matrix3dObject M2)

Multiplies the transpose of matrix M1 by the transpose of M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

mulInverse

public boolean mulInverse(Matrix3dObject M1)

Multiplies this matrix by the inverse of M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

Returns:

false if M1 is singular

mulInverseRight

public boolean mulInverseRight(Matrix3dObject M1,
                               Matrix3dObject M2)

Multiplies matrix M1 by the inverse of M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

Returns:

false if M2 is singular

mulInverseLeft

public boolean mulInverseLeft(Matrix3dObject M1,
                              Matrix3dObject M2)

Multiplies the inverse of matrix M1 by M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

Returns:

false if M1 is singular

mulInverseBoth

public boolean mulInverseBoth(Matrix3dObject M1,
                              Matrix3dObject M2)

Multiplies the inverse of matrix M1 by the inverse of M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

Returns:

false if M1 or M2 is singular

add

public void add(Matrix3dObject M1,
                Matrix3dObject M2)

Adds matrix M1 to M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

add

public void add(Matrix3dObject M1)

Adds this matrix to M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

sub

public void sub(Matrix3dObject M1,
                Matrix3dObject M2)

Subtracts matrix M1 from M2 and places the result in this matrix.

Parameters:

M1 - left-hand matrix

M2 - right-hand matrix

sub

public void sub(Matrix3dObject M1)

Subtracts this matrix from M1 and places the result in this matrix.

Parameters:

M1 - right-hand matrix

scale

public void scale(double s)

Scales the elements of this matrix by s.

Parameters:

s - scaling factor

scale

public void scale(double s,
                  Matrix3dObject M1)

Scales the elements of matrix M1 by s and places the results in this matrix.

Parameters:

s - scaling factor

M1 - matrix to be scaled

negate

public void negate(Matrix3dObject M1)

Sets this matrix to the negative of M1.

Parameters:

M1 - matrix to negate

transpose

public void transpose(Matrix3dObject M1)

Takes the transpose of matrix M1 and places the result in this matrix.

Parameters:

M1 - matrix to take the transpose of

setZero

public void setZero()

Sets the elements of this matrix to zero.

setRandom

public void setRandom()

Sets the elements of this matrix to uniformly distributed random values in the range -0.5 (inclusive) to 0.5 (exclusive).

setRandom

public void setRandom(double lower,
                      double upper)

Sets the elements of this matrix to uniformly distributed random values in a specified range.

Parameters:

lower - lower random value (inclusive)

upper - upper random value (exclusive)

setRandom

public void setRandom(double lower,
                      double upper,
                      java.util.Random generator)

Sets the elements of this matrix to uniformly distributed random values in a specified range, using a supplied random number generator.

Parameters:

lower - lower random value (inclusive)

upper - upper random value (exclusive)

generator - random number generator

invert

public boolean invert()

Inverts this matrix in place, returning false if the matrix is detected to be singular. The inverse is computed using an unrolled LU decomposition with partial pivoting.

Overrides:

invert in class Matrix3dObject

invert

public boolean invert(Matrix3dObject M)

Inverts the matrix M and places the result in this matrix, return false if M is detected to be singular. The inverse is computed using an unrolled LU decomposition with partial pivoting.

Parameters:

M - matrix to invert

Returns:

false if M is singular

setDiagonal

public void setDiagonal(Vector3d diag)

Sets this matrix to a diagonal matrix whose values are specified by diag.

Parameters:

diag - diagonal values

setDiagonal

public void setDiagonal(double[] vals)

Sets this matrix to a diagonal matrix whose values are specified by the array vals.

Parameters:

vals - diagonal values

main

public static void main(java.lang.String[] args)