vctMatrixRotation3< _elementType, _rowMajor > Class Template Reference

Define a rotation matrix for a space of dimension 3. More...

#include <vctForwardDeclarations.h>

Inheritance diagram for vctMatrixRotation3< _elementType, _rowMajor >:

Public Types
enum	{ ROWS = 3, COLS = 3 }
enum	{ DIMENSION = 3 }
typedef vctFixedSizeMatrix < value_type, ROWS, COLS, _rowMajor >	ContainerType
typedef vctMatrixRotation3Base < ContainerType >	BaseType
typedef vctMatrixRotation3 < value_type, _rowMajor >	ThisType
typedef cmnTypeTraits< value_type >	TypeTraits
Public Types inherited from vctMatrixRotation3Base< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
enum
enum
typedef vctFixedSizeMatrix < _elementType, 3, 3, _rowMajor >	ContainerType
typedef vctMatrixRotation3ConstBase < ContainerType >	BaseType
typedef vctMatrixRotation3Base < ContainerType >	ThisType
typedef vctMatrixRotation3Base < typename ContainerType::MatrixValueType >	RotationValueType
typedef cmnTypeTraits< value_type >	TypeTraits
Public Types inherited from vctMatrixRotation3ConstBase< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
enum
enum
typedef vctFixedSizeMatrix < _elementType, 3, 3, _rowMajor >	BaseType
typedef vctFixedSizeMatrix < _elementType, 3, 3, _rowMajor >	ContainerType
typedef vctMatrixRotation3ConstBase < ContainerType >	ThisType
typedef vctMatrixRotation3 < value_type >	RotationValueType
typedef cmnTypeTraits< value_type >	TypeTraits
Public Types inherited from vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor >
typedef vctFixedSizeMatrixTraits < _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >	MatrixTraits
typedef vctFixedSizeMatrixBase < _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows, _elementType, typename vctFixedSizeMatrixTraits < _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows > ::array >	BaseType
typedef vctFixedSizeMatrix < _elementType, _rows, _cols, _rowMajor >	ThisType
typedef MatrixTraits::iterator	iterator
typedef MatrixTraits::const_iterator	const_iterator
typedef MatrixTraits::reverse_iterator	reverse_iterator
typedef MatrixTraits::const_reverse_iterator	const_reverse_iterator
typedef class cmnTypeTraits < value_type >	TypeTraits
typedef TypeTraits::VaArgPromotion	ElementVaArgPromotion
Public Types inherited from vctFixedSizeMatrixBase< _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >
enum
enum
typedef vctFixedSizeMatrixBase < _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits < _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows > ::array >	ThisType
typedef vctFixedSizeConstMatrixBase < _rows, _cols, _rowStride, _colStride, _elementType, vctFixedSizeMatrixTraits < _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows > ::array >	BaseType
typedef vctFixedSizeMatrixTraits < _elementType, _rows, _cols, _rowStride, _colStride >	MatrixTraits
typedef MatrixTraits::iterator	iterator
typedef MatrixTraits::const_iterator	const_iterator
typedef MatrixTraits::reverse_iterator	reverse_iterator
typedef MatrixTraits::const_reverse_iterator	const_reverse_iterator
typedef BaseType::RowRefType	RowRefType
typedef BaseType::ColumnRefType	ColumnRefType
typedef BaseType::ConstRowRefType	ConstRowRefType
typedef BaseType::ConstColumnRefType	ConstColumnRefType
typedef BaseType::DiagonalRefType	DiagonalRefType
typedef BaseType::ConstDiagonalRefType	ConstDiagonalRefType
typedef BaseType::RefTransposeType	RefTransposeType
typedef BaseType::ConstRefTransposeType	ConstRefTransposeType
typedef BaseType::RowValueType	RowValueType
typedef BaseType::ColumnValueType	ColumnValueType
Public Types inherited from vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType >
enum	{ DIMENSION = 2 }
enum	{ ROWS = MatrixTraits::ROWS, COLS = MatrixTraits::COLS, LENGTH = MatrixTraits::LENGTH }
enum	{ ROWSTRIDE = MatrixTraits::ROWSTRIDE, COLSTRIDE = MatrixTraits::COLSTRIDE }
enum	{ DIAGONAL_LENGTH = (ROWS <= COLS) ? ROWS : COLS, DIAGONAL_STRIDE = ROWSTRIDE + COLSTRIDE }
typedef vctFixedSizeConstMatrixBase < _rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType >	ThisType
typedef vctFixedSizeMatrixTraits < _elementType, _rows, _cols, _rowStride, _colStride >	MatrixTraits
typedef MatrixTraits::iterator	iterator
typedef MatrixTraits::const_iterator	const_iterator
typedef MatrixTraits::reverse_iterator	reverse_iterator
typedef MatrixTraits::const_reverse_iterator	const_reverse_iterator
typedef vctFixedSizeConstVectorRef < _elementType, COLS, COLSTRIDE >	ConstRowRefType
typedef vctFixedSizeVectorRef < _elementType, COLS, COLSTRIDE >	RowRefType
typedef vctFixedSizeConstVectorRef < _elementType, ROWS, ROWSTRIDE >	ConstColumnRefType
typedef vctFixedSizeVectorRef < _elementType, ROWS, ROWSTRIDE >	ColumnRefType
typedef vctFixedSizeConstVectorRef < _elementType, DIAGONAL_LENGTH, DIAGONAL_STRIDE >	ConstDiagonalRefType
typedef vctFixedSizeVectorRef < _elementType, DIAGONAL_LENGTH, DIAGONAL_STRIDE >	DiagonalRefType
typedef vctFixedSizeVector < _elementType, COLS >	RowValueType
typedef vctFixedSizeVector < _elementType, ROWS >	ColumnValueType
typedef vctFixedSizeConstMatrixRef < _elementType, _rows, _cols, _rowStride, _colStride >	ConstRefType
typedef vctFixedSizeMatrixRef < _elementType, _rows, _cols, _rowStride, _colStride >	RefType
typedef vctFixedSizeConstMatrixRef < _elementType, _cols, _rows, _colStride, _rowStride >	ConstRefTransposeType
typedef vctFixedSizeMatrixRef < _elementType, _cols, _rows, _colStride, _rowStride >	RefTransposeType
typedef vctFixedSizeMatrix < _elementType, COLS, ROWS, COLSTRIDE<=ROWSTRIDE > TransposeValueType;typedef vctFixedSizeMatrix < _elementType, ROWS, COLS, COLSTRIDE<=ROWSTRIDE > MatrixValueType;typedef vctFixedSizeMatrix< bool, ROWS, COLS, COLSTRIDE<=ROWSTRIDE > BoolMatrixValueType;typedef _dataPtrType DataType;protected:DataType Data;inline void ThrowUnlessValidIndex(size_type index) const throw(std::out_of_range){if(!ValidIndex(index)){cmnThrow(std::out_of_range("vctFixedSizeMatrix: Invalid index"));}}inline void ThrowUnlessValidIndex(size_type rowIndex, size_type colIndex) const throw(std::out_of_range){if(!ValidIndex(rowIndex, colIndex)){cmnThrow(std::out_of_range("vctFixedSizeMatrix: Invalid indices"));}}public:const_iterator begin() const {return const_iterator(Data, 0);}const_iterator end() const {return const_iterator(Data)+LENGTH;}const_reverse_iterator rbegin() const {return const_reverse_iterator(Pointer(ROWS-1, COLS-1), 0);}const_reverse_iterator rend() const {return const_reverse_iterator(Data-ROWSTRIDE+COLSTRIDE *(COLS-1), 0);}size_type size() const {return LENGTH;}const nsize_type &sizes(void) const {static nsize_type staticSizes(ROWS, COLS);return staticSizes;}size_type rows() const {return ROWS;}size_type cols() const {return COLS;}size_type max_size() const {return LENGTH;}const nstride_type &strides(void) const {static nstride_type staticStrides(ROWSTRIDE, COLSTRIDE);return staticStrides;}difference_type row_stride() const {return ROWSTRIDE;}difference_type col_stride() const {return COLSTRIDE;}bool empty() const {return(LENGTH==0);}ConstRowRefType operator[](size_type index) const {return ConstRowRefType(Data+ROWSTRIDE *index);}const_pointer Pointer(size_type rowIndex, size_type colIndex) const {return Data+ROWSTRIDE *rowIndex+COLSTRIDE *colIndex;}const_pointer Pointer(void) const {return Data;}inline bool ValidIndex(size_type index) const {return(index < size());}inline bool ValidIndex(size_type rowIndex, size_type colIndex) const {return((rowIndex< rows())&&(colIndex < cols()));}inline bool ValidRowIndex(size_type rowIndex) const {return(rowIndex < rows());}inline bool ValidColIndex(size_type colIndex) const {return(colIndex < cols());}const_reference at(size_type index) const throw(std::out_of_range){ThrowUnlessValidIndex(index);return(begin())[index];}const_reference at(size_type rowIndex, size_type colIndex) const throw(std::out_of_range){ThrowUnlessValidIndex(rowIndex, colIndex);return *(Pointer(rowIndex, colIndex));}const_reference operator()(size_type rowIndex, size_type colIndex) const throw(std::out_of_range){return at(rowIndex, colIndex);}const_reference Element(size_type rowIndex, size_type colIndex) const {return *(Pointer(rowIndex, colIndex));}ConstRowRefType Row(size_type index) const {return ConstRowRefType(Data+ROWSTRIDE *index);}ConstColumnRefType Column(size_type index) const {return ConstColumnRefType(Data+COLSTRIDE *index);}ConstDiagonalRefType Diagonal(void) const {return ConstDiagonalRefType(Data);}template < vct::size_type __subRows, vct::size_type __subCols > vctFixedSizeConstMatrixRef < _elementType, __subRows, __subCols, _rowStride, _colStride > Ref(const size_type startRow=0, const size_type startCol=0) const throw(std::out_of_range){vctFixedSizeConstMatrixRef < _elementType, __subRows, __subCols, _rowStride, _colStride > result(*this, startRow, startCol);return result;}inline value_type SumOfElements() const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < value_type >::Addition, typename vctUnaryOperations < value_type >::Identity > ::Run(*this);}inline value_type ProductOfElements() const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < value_type >::Multiplication, typename vctUnaryOperations < value_type >::Identity > ::Run(*this);}inline value_type Trace(void) const {return this->Diagonal().SumOfElements();}inline value_type NormSquare(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < value_type >::Addition, typename vctUnaryOperations < value_type >::Square >::Run(*this);}inline NormType Norm(void) const {return sqrt(NormType(NormSquare()));}inline value_type L1Norm(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < value_type >::Addition, typename vctUnaryOperations < value_type >::AbsValue > ::Run(*this);}inline value_type LinfNorm(void) const {return this-> MaxAbsElement();}inline value_type MaxElement(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < value_type >::Maximum, typename vctUnaryOperations < value_type >::Identity > ::Run(*this);}inline value_type MinElement(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < value_type >::Minimum, typename vctUnaryOperations < value_type >::Identity > ::Run(*this);}inline value_type MaxAbsElement(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < value_type >::Maximum, typename vctUnaryOperations < value_type >::AbsValue > ::Run(*this);}inline value_type MinAbsElement(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < value_type >::Minimum, typename vctUnaryOperations < value_type >::AbsValue > ::Run(*this);}inline void MinAndMaxElement(value_type &minElement, value_type &maxElement) const {vctFixedSizeMatrixLoopEngines::MinAndMax::Run((*this), minElement, maxElement);}inline bool IsPositive(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < bool >::And, typename vctUnaryOperations< bool, value_type >::IsPositive > ::Run(*this);}inline bool IsNonNegative(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < bool >::And, typename vctUnaryOperations< bool, value_type >::IsNonNegative > ::Run(*this);}inline bool IsNonPositive(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < bool >::And, typename vctUnaryOperations< bool, value_type >::IsNonPositive > ::Run(*this);}inline bool IsNegative(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < bool >::And, typename vctUnaryOperations< bool, value_type >::IsNegative > ::Run(*this);}inline bool All(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < bool >::And, typename vctUnaryOperations< bool, value_type >::IsNonzero >::Run(*this);}inline bool Any(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < bool >::Or, typename vctUnaryOperations< bool, value_type >::IsNonzero >::Run(*this);}inline bool IsFinite(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < bool >::And, typename vctUnaryOperations< bool, value_type >::IsFinite >::Run(*this);}inline bool HasNaN(void) const {return vctFixedSizeMatrixLoopEngines::SoMi < typename vctBinaryOperations < bool >::Or, typename vctUnaryOperations< bool, value_type >::IsNaN >::Run(*this);}inline bool IsColMajor(void) const {return(row_stride() <=col_stride());}inline bool IsRowMajor(void) const {return(col_stride() <=row_stride());}inline bool IsCompact(void) const {return(((row_stride()==1)&&(col_stride()==static_cast < stride_type >rows())))||((col_stride()==1)&&(row_stride()==static_cast < stride_type >cols()))));}inline bool IsFortran(void) const {return(IsColMajor()&&(row_stride()==1)&&(col_stride()==static_cast < stride_type >rows())));}inline bool StorageOrder(void) const {return this->	IsRowMajor ()

Public Member Functions
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
	vctMatrixRotation3 (void)
	vctMatrixRotation3 (const ThisType &other)
	vctMatrixRotation3 (const BaseType &other)
	vctMatrixRotation3 (const vctDynamicMatrixRef< value_type > &other)
ThisType &	operator= (const ContainerType &other)
ThisType &	operator= (const ThisType &other)
ThisType &	operator= (const BaseType &other)
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
	vctMatrixRotation3 (const vctFixedSizeMatrixBase< ROWS, COLS, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
Constructors with normalization test.
These constructors will check that the input is valid, i.e. normalized. If the input is not normalized, an exception (of type std::runtime_error) will be thrown. Each constructor uses the corresponding From() method based on the input type. Note See the cmnThrow() function if an abort is better than an exception for your application.
	vctMatrixRotation3 (const value_type &element00, const value_type &element01, const value_type &element02, const value_type &element10, const value_type &element11, const value_type &element12, const value_type &element20, const value_type &element21, const value_type &element22) throw (std::runtime_error)
template<stride_type __stride1, class __dataPtrType1 , stride_type __stride2, class __dataPtrType2 , stride_type __stride3, class __dataPtrType3 >
	vctMatrixRotation3 (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &v3, bool vectorsAreColumns=true) throw (std::runtime_error)
template<class __vectorOwnerType1 , class __vectorOwnerType2 , class __vectorOwnerType3 >
	vctMatrixRotation3 (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &v3, bool vectorsAreColumns=true) throw (std::runtime_error)
	vctMatrixRotation3 (const vctAxisAngleRotation3< value_type > &axisAngleRotation) throw (std::runtime_error)
template<class __containerType >
	vctMatrixRotation3 (const vctQuaternionRotation3Base< __containerType > &quaternionRotation) throw (std::runtime_error)
template<class __containerType >
	vctMatrixRotation3 (const vctRodriguezRotation3Base< __containerType > &rodriguezRotation) throw (std::runtime_error)
template<vctEulerRotation3Order::OrderType __order>
	vctMatrixRotation3 (const vctEulerRotation3< __order > &eulerRotation) throw (std::runtime_error)
Constructors without normalization test
These constructors will either assume that the input is normalized or normalize the input (a copy of it, if required) based on the last parameter provided. If the normalization flag is set to VCT_DO_NOT_NORMALIZE, the input is considered already normalized and the constructor will not perform any sanity check. This can lead to numerical instabilities which have to be handled by the caller. If the normalization flag is set to VCT_NORMALIZE, the input will be normalized. This option should be used whenever it is important to obtain a result as "normalized" as possible.
	vctMatrixRotation3 (const value_type &element00, const value_type &element01, const value_type &element02, const value_type &element10, const value_type &element11, const value_type &element12, const value_type &element20, const value_type &element21, const value_type &element22, bool normalizeInput)
template<stride_type __stride1, class __dataPtrType1 , stride_type __stride2, class __dataPtrType2 , stride_type __stride3, class __dataPtrType3 >
	vctMatrixRotation3 (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &v3, bool vectorsAreColumns, bool normalizeInput)
template<class __vectorOwnerType1 , class __vectorOwnerType2 , class __vectorOwnerType3 >
	vctMatrixRotation3 (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &v3, bool vectorsAreColumns, bool normalizeInput)
	vctMatrixRotation3 (const vctAxisAngleRotation3< value_type > &axisAngleRotation, bool normalizeInput)
template<class __containerType >
	vctMatrixRotation3 (const vctQuaternionRotation3Base< __containerType > &quaternionRotation, bool normalizeInput)
template<class __containerType >
	vctMatrixRotation3 (const vctRodriguezRotation3Base< __containerType > &rodriguezRotation, bool normalizeInput)
template<vctEulerRotation3Order::OrderType __order>
	vctMatrixRotation3 (const vctEulerRotation3< __order > &eulerRotation, bool normalizeInput)
Public Member Functions inherited from vctMatrixRotation3Base< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)
	vctMatrixRotation3Base ()
ThisType &	NormalizedSelf (void)
ThisType &	NormalizedOf (ThisType &otherMatrix)
ThisType &	InverseSelf (void)
ThisType &	InverseOf (const ThisType &otherRotation)
ThisType &	From (const vctMatrixRotation3Base< __containerType > &other) throw (std::runtime_error)
ThisType &	From (const value_type &element00, const value_type &element01, const value_type &element02, const value_type &element10, const value_type &element11, const value_type &element12, const value_type &element20, const value_type &element21, const value_type &element22) throw (std::runtime_error)
ThisType &	From (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &v3, bool vectorsAreColumns=true) throw (std::runtime_error)
ThisType &	From (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &v3, bool vectorsAreColumns=true) throw (std::runtime_error)
ThisType &	From (const vctAxisAngleRotation3< value_type > &axisAngleRotation) throw (std::runtime_error)
ThisType &	From (const vctQuaternionRotation3Base< __containerType > &quaternionRotation) throw (std::runtime_error)
ThisType &	From (const vctRodriguezRotation3Base< __containerType > &rodriguezRotation) throw (std::runtime_error)
ThisType &	From (const vctEulerRotation3< __order > &eulerRotation) throw (std::runtime_error)
ThisType &	FromNormalized (const vctMatrixRotation3Base< __containerType > &other) throw (std::runtime_error)
ThisType &	FromNormalized (const value_type &element00, const value_type &element01, const value_type &element02, const value_type &element10, const value_type &element11, const value_type &element12, const value_type &element20, const value_type &element21, const value_type &element22)
ThisType &	FromNormalized (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &v3, bool vectorsAreColumns=true) throw (std::runtime_error)
ThisType &	FromNormalized (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &v3, bool vectorsAreColumns=true)
ThisType &	FromNormalized (const vctAxisAngleRotation3< value_type > &axisAngleRotation)
ThisType &	FromNormalized (const vctQuaternionRotation3Base< __containerType > &quaternionRotation)
ThisType &	FromNormalized (const vctRodriguezRotation3Base< __containerType > &rodriguezRotation)
ThisType &	FromNormalized (const vctEulerRotation3< __order > &eulerRotation)
ThisType &	FromRaw (const vctMatrixRotation3Base< __containerType > &other) throw (std::runtime_error)
ThisType &	FromRaw (const value_type &element00, const value_type &element01, const value_type &element02, const value_type &element10, const value_type &element11, const value_type &element12, const value_type &element20, const value_type &element21, const value_type &element22)
ThisType &	FromRaw (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &v3, bool vectorsAreColumns=true)
ThisType &	FromRaw (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &v3, bool vectorsAreColumns=true) throw (std::runtime_error)
ThisType &	FromRaw (const vctAxisAngleRotation3< value_type > &axisAngleRotation)
ThisType &	FromRaw (const vctQuaternionRotation3Base< __containerType > &quaternionRotation)
ThisType &	FromRaw (const vctRodriguezRotation3Base< __containerType > &rodriguezRotation)
ThisType &	FromRaw (const vctEulerRotation3< __order > &eulerRotation)
ThisType &	FromRaw (const ThisType &otherRotation)
ThisType &	FromRaw (const vctFixedSizeMatrixBase< ROWS, COLS, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
Public Member Functions inherited from vctMatrixRotation3ConstBase< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)
RotationValueType	Normalized (void) const
bool	IsNormalized (value_type tolerance=TypeTraits::Tolerance()) const
RotationValueType	Inverse (void) const
void	ApplyTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &input, vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &output) const
vctFixedSizeVector< value_type, DIMENSION >	ApplyTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &input) const
ThisType	ApplyTo (const ThisType &input) const
void	ApplyTo (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &input, vctDynamicVectorBase< __vectorOwnerType2, value_type > &output) const throw (std::runtime_error)
void	ApplyTo (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &input, vctFixedSizeVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &output) const throw (std::runtime_error)
vctFixedSizeVector< value_type, DIMENSION >	ApplyTo (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &input) const
void	ApplyTo (const vctFixedSizeConstMatrixBase< DIMENSION, __cols, __rowStride1, __colStride1, value_type, __dataPtrType1 > &input, vctFixedSizeMatrixBase< DIMENSION, __cols, __rowStride2, __colStride2, value_type, __dataPtrType2 > &output) const
void	ApplyTo (const vctDynamicConstMatrixBase< __matrixOwnerType1, value_type > &input, vctDynamicMatrixBase< __matrixOwnerType2, value_type > &output) const
void	ApplyInverseTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &input, vctFixedSizeVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &output) const
vctFixedSizeVector< value_type, DIMENSION >	ApplyInverseTo (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &input) const
vctFixedSizeVector< value_type, DIMENSION >	ApplyInverseTo (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &input) const
void	ApplyInverseTo (const ThisType &input, ThisType &output) const
ThisType	ApplyInverseTo (const ThisType &input) const
void	ApplyInverseTo (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &input, vctDynamicVectorBase< __vectorOwnerType2, value_type > &output) const
void	ApplyInverseTo (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &input, vctFixedSizeVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &output) const
void	ApplyInverseTo (const vctFixedSizeConstMatrixBase< DIMENSION, __cols, __rowStride1, __colStride1, value_type, __dataPtrType1 > &input, vctFixedSizeMatrixBase< DIMENSION, __cols, __rowStride2, __colStride2, value_type, __dataPtrType2 > &output) const
void	ApplyInverseTo (const vctDynamicConstMatrixBase< __matrixOwnerType1, value_type > &input, vctDynamicMatrixBase< __matrixOwnerType2, value_type > &output) const
ThisType	operator* (const ThisType &input) const
vctFixedSizeVector< value_type, DIMENSION >	operator* (const vctFixedSizeConstVectorBase< DIMENSION, __stride, value_type, __dataPtrType > &input) const
vctFixedSizeVector< value_type, DIMENSION >	operator* (const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &input) const
bool	AlmostEquivalent (const ThisType &other, value_type tolerance=TypeTraits::Tolerance()) const
Public Member Functions inherited from vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
	vctFixedSizeMatrix ()
	vctFixedSizeMatrix (const value_type &value)
	vctFixedSizeMatrix (const value_type element0, const value_type element1,...)
	vctFixedSizeMatrix (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, __elementType, __dataPtrType > &matrix)
	vctFixedSizeMatrix (const vctDynamicConstMatrixBase< __matrixOwnerType, value_type > &matrix)
ThisType &	operator= (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, __elementType, __dataPtrType > &other)
ThisType &	operator= (const ThisType &other)
ThisType &	operator= (const vctFixedSizeConstMatrixRef< value_type, _rows, _cols, __rowStride, __colStride > &other)
ThisType &	operator= (const vctFixedSizeConstMatrixRef< __elementType, _rows, _cols, __rowStride, __colStride > &other)
ThisType &	operator= (const value_type &value)
Public Member Functions inherited from vctFixedSizeMatrixBase< _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows, _elementType, vctFixedSizeMatrixTraits< _elementType, _rows, _cols, _rowMajor?_cols:1, _rowMajor?1:_rows >::array >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
iterator	begin ()
const_iterator	begin () const
iterator	end ()
const_iterator	end () const
reverse_iterator	rbegin ()
const_reverse_iterator	rbegin () const
reverse_iterator	rend ()
const_reverse_iterator	rend () const
RowRefType	operator[] (size_type index)
ConstRowRefType	operator[] (size_type index) const
pointer	Pointer (size_type rowIndex, size_type colIndex)
pointer	Pointer (void)
const_pointer	Pointer (size_type rowIndex, size_type colIndex) const
const_pointer	Pointer (void) const
reference	at (size_type index) throw (std::out_of_range)
const_reference	at (size_type index) const throw (std::out_of_range)
reference	at (size_type rowIndex, size_type colIndex) throw (std::out_of_range)
const_reference	at (size_type rowIndex, size_type colIndex) const throw (std::out_of_range)
reference	operator() (size_type rowIndex, size_type colIndex) throw (std::out_of_range)
const_reference	operator() (size_type rowIndex, size_type colIndex) const throw (std::out_of_range)
reference	Element (size_type rowIndex, size_type colIndex)
const_reference	Element (size_type rowIndex, size_type colIndex) const
void	RowPermutationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const index_type permutedRowIndexes[])
void	RowInversePermutationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const index_type permutedRowIndexes[])
void	ColumnPermutationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const index_type permutedColumnIndexes[])
void	ColumnInversePermutationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const index_type permutedColumnIndexes[])
value_type	SetAll (const value_type value)
bool	Zeros (void)
ThisType &	Assign (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, __elementType, __dataPtrType > &other)
ThisType &	Assign (const value_type element0,...)
ThisType &	Assign (const value_type *elements, bool inputIsRowMajor=true)
ThisType &	Assign (const vctDynamicConstMatrixBase< __matrixOwnerType, value_type > &other)
RefTransposeType	TransposeRef (void)
ConstRefTransposeType	TransposeRef (void) const
void	ProductOf (const vctFixedSizeConstMatrixBase< _rows, __input1Cols, __input1RowStride, __input1ColStride, _elementType, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< __input1Cols, _cols, __input2RowStride, __input2ColStride, _elementType, __input2DataPtrType > &input2Matrix)
ThisType &	AddProductOf (const value_type scalar, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	AddElementwiseProductOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride1, __colStride1, value_type, __dataPtrType1 > &matrix1, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride2, __colStride2, value_type, __dataPtrType2 > &matrix2)
ThisType &	TransposeOf (const vctFixedSizeConstMatrixBase< _cols, _rows, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
void	OuterProductOf (const vctFixedSizeConstVectorBase< _rows, __stride1, _elementType, __dataPtrType1 > &columnVector, const vctFixedSizeConstVectorBase< _cols, __stride2, _elementType, __dataPtrType2 > &rowVector)
bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')
void	DeSerializeRaw (std::istream &inputStream)
RowRefType	Row (size_type index)
ConstRowRefType	Row (size_type index) const
ColumnRefType	Column (size_type index)
ConstColumnRefType	Column (size_type index) const
DiagonalRefType	Diagonal (void)
ConstDiagonalRefType	Diagonal (void) const
vctFixedSizeMatrixRef < _elementType, __subRows, __subCols, _rowStride, _colStride >	Ref (const size_type startRow=0, const size_type startCol=0) throw (std::out_of_range)
vctFixedSizeConstMatrixRef < _elementType, __subRows, __subCols, _rowStride, _colStride >	Ref (const size_type startRow=0, const size_type startCol=0) const throw (std::out_of_range)
void	ExchangeRows (const size_type row1Index, const size_type row2Index)
void	ExchangeColumns (const size_type col1Index, const size_type col2Index)
void	SelectRowsFrom (const vctFixedSizeConstMatrixBase< __rows, _cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const vctFixedSizeConstVectorBase< _rows, __indexStride, index_type, __indexDataPtrType > &rowIndexVector)
void	SelectColsFrom (const vctFixedSizeConstMatrixBase< _rows, __cols, __rowStride, __colStride, _elementType, __dataPtrType > &inputMatrix, const vctFixedSizeConstVectorBase< _cols, __indexStride, index_type, __indexDataPtrType > &colIndexVector)
ThisType &	ForceAssign (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, __elementType, __dataPtrType > &other)
ThisType &	ForceAssign (const vctDynamicConstMatrixBase< __matrixOwnerType, value_type > &other)
bool	FastCopyOf (const vctDynamicConstMatrixBase< __matrixOwnerType, value_type > &source, bool performSafetyChecks=vctFastCopy::PerformChecks) throw (std::runtime_error)
bool	FastCopyOf (const vctFixedSizeConstMatrixBase< ROWS, COLS, ROWSTRIDE, COLSTRIDE, value_type, __dataPtrType > &source, bool performSafetyChecks=vctFastCopy::PerformChecks) throw (std::runtime_error)
ThisType &	SumOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	DifferenceOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	ElementwiseProductOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	ElementwiseRatioOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	ElementwiseMinOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	ElementwiseMaxOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __input1RowStride, __input1ColStride, value_type, __input1DataPtrType > &input1Matrix, const vctFixedSizeConstMatrixBase< _rows, _cols, __input2RowStride, __input2ColStride, value_type, __input2DataPtrType > &input2Matrix)
ThisType &	Add (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	Subtract (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ElementwiseMultiply (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ElementwiseDivide (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ElementwiseMin (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	ElementwiseMax (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	operator+= (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	operator-= (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	SumOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type scalar)
ThisType &	DifferenceOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type scalar)
ThisType &	ProductOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type scalar)
ThisType &	RatioOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type scalar)
ThisType &	ClippedAboveOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type upperBound)
ThisType &	ClippedBelowOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix, const value_type lowerBound)
ThisType &	SumOf (const value_type scalar, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
ThisType &	DifferenceOf (const value_type scalar, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
ThisType &	ProductOf (const value_type scalar, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
ThisType &	RatioOf (const value_type scalar, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
ThisType &	ClippedAboveOf (const value_type upperBound, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
ThisType &	ClippedBelowOf (const value_type lowerBound, const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &matrix)
ThisType &	Add (const value_type scalar)
ThisType &	Subtract (const value_type scalar)
ThisType &	operator+= (const value_type scalar)
ThisType &	operator-= (const value_type scalar)
ThisType &	Multiply (const value_type scalar)
ThisType &	Divide (const value_type scalar)
ThisType &	ClipAbove (const value_type upperBound)
ThisType &	ClipBelow (const value_type lowerBound)
ThisType &	operator*= (const value_type scalar)
ThisType &	operator/= (const value_type scalar)
ThisType &	AbsOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	NegationOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	FloorOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	CeilOf (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix)
ThisType &	AbsSelf (void)
ThisType &	NegationSelf (void)
ThisType &	FloorSelf (void)
ThisType &	CeilSelf (void)
Public Member Functions inherited from vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
	VCT_NARRAY_TRAITS_TYPEDEFS (DIMENSION)
bool	IsSquare (void) const
bool	IsSquare (size_type size) const
template<size_type __rows, size_type __cols, stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	FastCopyCompatible (const vctFixedSizeConstMatrixBase< __rows, __cols, __rowStride, __colStride, value_type, __dataPtrType > &source) const
template<class __matrixOwnerType >
bool	FastCopyCompatible (const vctDynamicConstMatrixBase< __matrixOwnerType, value_type > &source) const
ConstRefTransposeType	TransposeRef (void) const
TransposeValueType	Transpose () const
std::string	ToString (void) const
void	ToStream (std::ostream &outputStream) const
void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const
void	SerializeRaw (std::ostream &outputStream) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	Equal (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	operator== (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	AlmostEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix, value_type tolerance) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	AlmostEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	NotEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	operator!= (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	Lesser (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	LesserOrEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	Greater (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
bool	GreaterOrEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
BoolMatrixValueType	ElementwiseEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
BoolMatrixValueType	ElementwiseNotEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
BoolMatrixValueType	ElementwiseLesser (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
BoolMatrixValueType	ElementwiseLesserOrEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
BoolMatrixValueType	ElementwiseGreater (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >
BoolMatrixValueType	ElementwiseGreaterOrEqual (const vctFixedSizeConstMatrixBase< _rows, _cols, __rowStride, __colStride, value_type, __dataPtrType > &otherMatrix) const
bool	Equal (const value_type &scalar) const
bool	operator== (const value_type &scalar) const
bool	NotEqual (const value_type &scalar) const
bool	operator!= (const value_type &scalar) const
bool	Lesser (const value_type &scalar) const
bool	LesserOrEqual (const value_type &scalar) const
bool	Greater (const value_type &scalar) const
bool	GreaterOrEqual (const value_type &scalar) const
BoolMatrixValueType	ElementwiseEqual (const value_type &scalar) const
BoolMatrixValueType	ElementwiseNotEqual (const value_type &scalar) const
BoolMatrixValueType	ElementwiseLesser (const value_type &scalar) const
BoolMatrixValueType	ElementwiseLesserOrEqual (const value_type &scalar) const
BoolMatrixValueType	ElementwiseGreater (const value_type &scalar) const
BoolMatrixValueType	ElementwiseGreaterOrEqual (const value_type &scalar) const
MatrixValueType	Abs (void) const
MatrixValueType	Negation (void) const
MatrixValueType	Floor (void) const
MatrixValueType	Ceil (void) const

Additional Inherited Members
Static Public Member Functions inherited from vctMatrixRotation3ConstBase< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
static CISST_EXPORT const RotationValueType &	Identity ()
Static Public Member Functions inherited from vctFixedSizeConstMatrixBase< _rows, _cols, _rowStride, _colStride, _elementType, _dataPtrType >
static const MatrixValueType &	Eye (void)
Protected Member Functions inherited from vctMatrixRotation3ConstBase< vctFixedSizeMatrix< _elementType, 3, 3, _rowMajor > >
void	ThrowUnlessIsNormalized (void) const throw (std::runtime_error)
void	ThrowUnlessIsNormalized (const _inputType &input) const throw (std::runtime_error)

Detailed Description

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>
class vctMatrixRotation3< _elementType, _rowMajor >

Define a rotation matrix for a space of dimension 3.

This class is templated by the element type. It is derived from vctMatrixRotation3Base and uses a vctFixedSizeMatrix as underlying container. It provides a more humain interface for programmers only interested in templating by _elementType.

Parameters

_elementType

The type of elements of the matrix.

See Also

vctMatrixRotation3Base vctFixedSizeMatrix

Member Typedef Documentation

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

typedef vctMatrixRotation3Base<ContainerType> vctMatrixRotation3< _elementType, _rowMajor >::BaseType

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

typedef vctFixedSizeMatrix<value_type, ROWS, COLS, _rowMajor> vctMatrixRotation3< _elementType, _rowMajor >::ContainerType

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

typedef vctMatrixRotation3<value_type, _rowMajor> vctMatrixRotation3< _elementType, _rowMajor >::ThisType

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

typedef cmnTypeTraits<value_type> vctMatrixRotation3< _elementType, _rowMajor >::TypeTraits

Traits used for all useful types and values related to the element type.

Member Enumeration Documentation

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

anonymous enum

Enumerator
ROWS
COLS

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

anonymous enum

Enumerator
DIMENSION

Constructor & Destructor Documentation

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( void  )

inline

Default constructor. Sets the rotation matrix to identity.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const ThisType &  other )

inline

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const BaseType &  other )

inlineexplicit

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctDynamicMatrixRef< value_type > &  other )

inlineexplicit

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const value_type &  element00, const value_type &  element01, const value_type &  element02, const value_type &  element10, const value_type &  element11, const value_type &  element12, const value_type &  element20, const value_type &  element21, const value_type &  element22  ) throw ( std::runtime_error )

inline

Constructor from 9 elements.

The parameters are given row first so that the code remains human readable:

vctMatrixRotation3<double> matrix( 0.0, 1.0, 0.0,
                                  -1.0, 0.0, 0.0,
                                   0.0, 0.0, 1.0);

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<stride_type __stride1, class __dataPtrType1 , stride_type __stride2, class __dataPtrType2 , stride_type __stride3, class __dataPtrType3 >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &  v3, bool  vectorsAreColumns = true  ) throw ( std::runtime_error )

inline

Constructor from 3 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<class __vectorOwnerType1 , class __vectorOwnerType2 , class __vectorOwnerType3 >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &  v3, bool  vectorsAreColumns = true  ) throw ( std::runtime_error )

inline

Constructor from 3 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctAxisAngleRotation3< value_type > &  axisAngleRotation ) throw ( std::runtime_error )

inlineexplicit

Construction from a vctAxisAngleRotation3.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<class __containerType >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctQuaternionRotation3Base< __containerType > &  quaternionRotation ) throw ( std::runtime_error )

inlineexplicit

Constructor from a rotation quaternion. It is important to note that this constructor doesn't normalize the rotation quaternion but asserts that it is normalized (in debug mode only). See also the method From(quaternion).

Parameters

quaternionRotation

A unit quaternion

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<class __containerType >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctRodriguezRotation3Base< __containerType > &  rodriguezRotation ) throw ( std::runtime_error )

inlineexplicit

Constructor from a vctRodriguezRotation3.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<vctEulerRotation3Order::OrderType __order>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctEulerRotation3< __order > &  eulerRotation ) throw ( std::runtime_error )

inlineexplicit

Constructor from a vctEulerRotation3.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const value_type &  element00, const value_type &  element01, const value_type &  element02, const value_type &  element10, const value_type &  element11, const value_type &  element12, const value_type &  element20, const value_type &  element21, const value_type &  element22, bool  normalizeInput  )

inline

Constructor from 9 elements.

The parameters are given row first so that the code remains human readable:

vctMatrixRotation3<double> matrix( 0.0, 1.0, 0.0,
                                  -1.0, 0.0, 0.0,
                                   0.0, 0.0, 1.0);

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<stride_type __stride1, class __dataPtrType1 , stride_type __stride2, class __dataPtrType2 , stride_type __stride3, class __dataPtrType3 >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctFixedSizeConstVectorBase< DIMENSION, __stride1, value_type, __dataPtrType1 > &  v1, const vctFixedSizeConstVectorBase< DIMENSION, __stride2, value_type, __dataPtrType2 > &  v2, const vctFixedSizeConstVectorBase< DIMENSION, __stride3, value_type, __dataPtrType3 > &  v3, bool  vectorsAreColumns, bool  normalizeInput  )

inline

Constructor from 3 fixed size vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<class __vectorOwnerType1 , class __vectorOwnerType2 , class __vectorOwnerType3 >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctDynamicConstVectorBase< __vectorOwnerType1, value_type > &  v1, const vctDynamicConstVectorBase< __vectorOwnerType2, value_type > &  v2, const vctDynamicConstVectorBase< __vectorOwnerType3, value_type > &  v3, bool  vectorsAreColumns, bool  normalizeInput  )

inline

Constructor from 3 dynamic vectors.

By default the vectors represents the columns of the matrix. If the parameter vectorsAreColumns is set to false, the vectors provided will be used to set the matrix row by row.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctAxisAngleRotation3< value_type > &  axisAngleRotation, bool  normalizeInput  )

inline

Construction from a vctAxisAngleRotation3.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<class __containerType >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctQuaternionRotation3Base< __containerType > &  quaternionRotation, bool  normalizeInput  )

inline

Constructor from a rotation quaternion. It is important to note that this constructor doesn't normalize the rotation quaternion but asserts that it is normalized (in debug mode only). See also the method From(quaternion).

Parameters

quaternionRotation	A unit quaternion
normalizeInput	Normalize the input or convert as is (VCT_NORMALIZE or VCT_DO_NOT_NORMALIZE)

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<class __containerType >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctRodriguezRotation3Base< __containerType > &  rodriguezRotation, bool  normalizeInput  )

inline

Constructor from a vctRodriguezRotation3.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<vctEulerRotation3Order::OrderType __order>

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctEulerRotation3< __order > &  eulerRotation, bool  normalizeInput  )

inline

Construction from a vctEulerRotation3.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

template<stride_type __rowStride, stride_type __colStride, class __dataPtrType >

vctMatrixRotation3< _elementType, _rowMajor >::vctMatrixRotation3 ( const vctFixedSizeMatrixBase< ROWS, COLS, __rowStride, __colStride, value_type, __dataPtrType > &  matrix )

inlineexplicit

Initialize this rotation matrix with a 3x3 matrix. This constructor only takes a matrix of the same element type.

Note

This constructor does not verify normalization. It is introduced to allow using results of matrix operations and assign them to a rotation matrix.

The constructor is declared explicit, to force the user to be aware of the conversion being made.

Member Function Documentation

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

ThisType& vctMatrixRotation3< _elementType, _rowMajor >::operator= ( const ContainerType &  other )

inline

The assignment from BaseType (i.e. a 3 by 3 fixed size matrix) has to be redefined for this class (C++ restriction). This operator uses the Assign() method inherited from the BaseType. This operator (as well as the Assign method) allows to set a rotation matrix to whatever value without any further validity checking. It is recommended to use it with caution.

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

ThisType& vctMatrixRotation3< _elementType, _rowMajor >::operator= ( const ThisType &  other )

inline

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

ThisType& vctMatrixRotation3< _elementType, _rowMajor >::operator= ( const BaseType &  other )

inline

template<class _elementType, bool _rowMajor = VCT_ROW_MAJOR>

vctMatrixRotation3< _elementType, _rowMajor >::VCT_CONTAINER_TRAITS_TYPEDEFS

(

_elementType

)

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The documentation for this class was generated from the following files:

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctForwardDeclarations.h
• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctMatrixRotation3.h