maspack.matrix
Class RotationMatrix2d

java.lang.Object
  maspack.matrix.MatrixObject
      maspack.matrix.Matrix2dObject
          maspack.matrix.RotationMatrix2d

public class RotationMatrix2d

extends Matrix2dObject

Field Summary

Fields inherited from class maspack.matrix.Matrix2dObject

m00, m01, m10, m11

Constructor Summary

RotationMatrix2d()

RotationMatrix2d(double ang)

RotationMatrix2d(RotationMatrix2d R)

Method Summary

double	getAngle()
void	inverseTransform(Vector2d vr)
void	inverseTransform(Vector2d vr, Vector2d v1)
boolean	invert() Inverts this matrix in place, returning false if the matrix is detected to be singular.
boolean	invert(RotationMatrix2d r1)
void	mul(RotationMatrix2d r1)
void	mul(RotationMatrix2d r1, RotationMatrix2d r2)
void	mulAngle(double ang)
void	mulInverse(RotationMatrix2d r1)
boolean	mulInverse(Vector2d vr) Multiplies the column vector vr by the inverse of this matrix and places the result back in vr.
boolean	mulInverse(Vector2d vr, Vector2d v1) Multiplies the column vector v1 by the inverse of this matrix and places the result in vr.
void	mulInverseBoth(RotationMatrix2d r1, RotationMatrix2d r2)
void	mulInverseLeft(RotationMatrix2d r1, RotationMatrix2d r2)
void	mulInverseRight(RotationMatrix2d r1, RotationMatrix2d r2)
boolean	mulInverseTranspose(Vector2d vr) Multiplies vector vr by the inverse transpose of this matrix, in place.
boolean	mulInverseTranspose(Vector2d vr, Vector2d v1) Multiplies the column vector v1 by the inverse transpose of this matrix and places the result in vr.
void	setAngle(double ang)
void	setRandom()
void	setRandom(java.util.Random generator)
void	transform(Vector2d vr)
void	transform(Vector2d vr, Vector2d v1)

Methods inherited from class maspack.matrix.Matrix2dObject

colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, getColumn, getColumn, getRow, getRow, infinityNorm, mul, mul, 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

RotationMatrix2d

public RotationMatrix2d()

RotationMatrix2d

public RotationMatrix2d(double ang)

RotationMatrix2d

public RotationMatrix2d(RotationMatrix2d R)

Method Detail

mul

public void mul(RotationMatrix2d r1)

mul

public void mul(RotationMatrix2d r1,
                RotationMatrix2d r2)

mulInverse

public void mulInverse(RotationMatrix2d r1)

mulInverseLeft

public void mulInverseLeft(RotationMatrix2d r1,
                           RotationMatrix2d r2)

mulInverseRight

public void mulInverseRight(RotationMatrix2d r1,
                            RotationMatrix2d r2)

mulInverseBoth

public void mulInverseBoth(RotationMatrix2d r1,
                           RotationMatrix2d r2)

mulInverse

public boolean mulInverse(Vector2d vr,
                          Vector2d v1)

Multiplies the column vector v1 by the inverse of this matrix and places the result in vr.

Overrides:

mulInverse in class Matrix2dObject

Parameters:

vr - result vector

v1 - vector to multiply by

Returns:

true (matrix is never singular)

mulInverse

public boolean mulInverse(Vector2d vr)

Multiplies the column vector vr by the inverse of this matrix and places the result back in vr.

Overrides:

mulInverse in class Matrix2dObject

Parameters:

vr - vector to multiply by (in place)

Returns:

true (matrix is never singular)

mulInverseTranspose

public boolean mulInverseTranspose(Vector2d vr,
                                   Vector2d v1)

Multiplies the column vector v1 by the inverse transpose of this matrix and places the result in vr. For a rotation matrix, this is equivalent to simply multiplying by the matrix.

Overrides:

mulInverseTranspose in class Matrix2dObject

Parameters:

vr - result vector

v1 - vector to multiply by

Returns:

true (matrix is never singular)

mulInverseTranspose

public boolean mulInverseTranspose(Vector2d vr)

Multiplies vector vr by the inverse transpose of this matrix, in place. For a rotation matrix, this is equivalent to simply multiplying by the matrix.

Overrides:

mulInverseTranspose in class Matrix2dObject

Parameters:

vr - vector to multiply

Returns:

true (matrix is never singular)

invert

public boolean invert()

Description copied from class: Matrix2dObject

Inverts this matrix in place, returning false if the matrix is detected to be singular.

Overrides:

invert in class Matrix2dObject

invert

public boolean invert(RotationMatrix2d r1)

transform

public void transform(Vector2d vr,
                      Vector2d v1)

transform

public void transform(Vector2d vr)

inverseTransform

public void inverseTransform(Vector2d vr,
                             Vector2d v1)

inverseTransform

public void inverseTransform(Vector2d vr)

setAngle

public void setAngle(double ang)

mulAngle

public void mulAngle(double ang)

getAngle

public double getAngle()

setRandom

public void setRandom()

setRandom

public void setRandom(java.util.Random generator)