GfMatrix3d Class Reference

#include <matrix3d.h>

Public Types
typedef double	ScalarType

Public Member Functions
	GfMatrix3d ()=default
	GfMatrix3d (double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
	GfMatrix3d (const double m[3][3])
	GfMatrix3d (double s)
	GfMatrix3d (int s)
	GfMatrix3d (const GfVec3d &v)
GF_API	GfMatrix3d (const std::vector< std::vector< double > > &v)
GF_API	GfMatrix3d (const std::vector< std::vector< float > > &v)
GF_API	GfMatrix3d (const GfRotation &rot)
	Constructor. Initialize matrix from rotation. More...
GF_API	GfMatrix3d (const GfQuatd &rot)
	Constructor. Initialize matrix from a quaternion. More...
GF_API	GfMatrix3d (const class GfMatrix3f &m)
	This explicit constructor converts a "float" matrix to a "double" matrix. More...
void	SetRow (int i, const GfVec3d &v)
	Sets a row of the matrix from a Vec3. More...
void	SetColumn (int i, const GfVec3d &v)
	Sets a column of the matrix from a Vec3. More...
GfVec3d	GetRow (int i) const
	Gets a row of the matrix as a Vec3. More...
GfVec3d	GetColumn (int i) const
	Gets a column of the matrix as a Vec3. More...
GfMatrix3d &	Set (double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
GfMatrix3d &	Set (const double m[3][3])
GfMatrix3d &	SetIdentity ()
	Sets the matrix to the identity matrix. More...
GfMatrix3d &	SetZero ()
	Sets the matrix to zero. More...
GF_API GfMatrix3d &	SetDiagonal (double s)
	Sets the matrix to s times the identity matrix. More...
GF_API GfMatrix3d &	SetDiagonal (const GfVec3d &)
	Sets the matrix to have diagonal (v[0], v[1], v[2]). More...
GF_API double *	Get (double m[3][3]) const
double *	data ()
const double *	data () const
double *	GetArray ()
	Returns vector components as an array of double values. More...
const double *	GetArray () const
	Returns vector components as a const array of double values. More...
double *	operator[] (int i)
const double *	operator[] (int i) const
GF_API bool	operator== (const GfMatrix3d &m) const
GF_API bool	operator== (const GfMatrix3f &m) const
bool	operator!= (const GfMatrix3d &m) const
bool	operator!= (const GfMatrix3f &m) const
GF_API GfMatrix3d	GetTranspose () const
	Returns the transpose of the matrix. More...
GF_API GfMatrix3d	GetInverse (double *det=NULL, double eps=0) const
GF_API double	GetDeterminant () const
	Returns the determinant of the matrix. More...
GF_API bool	Orthonormalize (bool issueWarning=true)
GF_API GfMatrix3d	GetOrthonormalized (bool issueWarning=true) const
	Returns an orthonormalized copy of the matrix. More...
GF_API double	GetHandedness () const
bool	IsRightHanded () const
bool	IsLeftHanded () const
GF_API GfMatrix3d &	operator*= (const GfMatrix3d &m)
	Post-multiplies matrix m into this matrix. More...
GF_API GfMatrix3d &	operator*= (double)
	Multiplies the matrix by a double. More...
GF_API GfMatrix3d &	operator+= (const GfMatrix3d &m)
	Adds matrix m to this matrix. More...
GF_API GfMatrix3d &	operator-= (const GfMatrix3d &m)
	Subtracts matrix m from this matrix. More...
GF_API GfMatrix3d &	SetScale (double scaleFactor)
	Sets matrix to specify a uniform scaling by scaleFactor. More...
3D Transformation Utilities
GF_API GfMatrix3d &	SetRotate (const GfQuatd &rot)
	Sets the matrix to specify a rotation equivalent to rot. More...
GF_API GfMatrix3d &	SetRotate (const GfRotation &rot)
	Sets the matrix to specify a rotation equivalent to rot. More...
GF_API GfMatrix3d &	SetScale (const GfVec3d &scaleFactors)
GF_API GfRotation	ExtractRotation () const
GF_API GfVec3d	DecomposeRotation (const GfVec3d &axis0, const GfVec3d &axis1, const GfVec3d &axis2) const
GF_API GfQuaternion	ExtractRotationQuaternion () const

Static Public Attributes
static const size_t	numRows = 3
static const size_t	numColumns = 3

Friends
class	GfMatrix3f
size_t	hash_value (GfMatrix3d const &m)
	Hash. More...
GfMatrix3d	operator* (const GfMatrix3d &m1, double d)
	Returns the product of a matrix and a double. More...
GfMatrix3d	operator* (double d, const GfMatrix3d &m)
GF_API friend GfMatrix3d	operator- (const GfMatrix3d &m)
	Returns the unary negation of matrix m. More...
GfMatrix3d	operator+ (const GfMatrix3d &m1, const GfMatrix3d &m2)
	Adds matrix m2 to m1. More...
GfMatrix3d	operator- (const GfMatrix3d &m1, const GfMatrix3d &m2)
	Subtracts matrix m2 from m1. More...
GfMatrix3d	operator* (const GfMatrix3d &m1, const GfMatrix3d &m2)
	Multiplies matrix m1 by m2. More...
GfMatrix3d	operator/ (const GfMatrix3d &m1, const GfMatrix3d &m2)
	Divides matrix m1 by m2 (that is, m1 * inv(m2)). More...
GfVec3d	operator* (const GfMatrix3d &m, const GfVec3d &vec)
	Returns the product of a matrix m and a column vector vec. More...
GfVec3d	operator* (const GfVec3d &vec, const GfMatrix3d &m)
	Returns the product of row vector vec and a matrix m. More...

Detailed Description

Stores a 3x3 matrix of double elements. A basic type.

Matrices are defined to be in row-major order, so matrix[i][j] indexes the element in the i th row and the j th column.

3D Transformations

Three methods, SetRotate(), SetScale(), and ExtractRotation(), interpret a GfMatrix3d as a 3D transformation. By convention, vectors are treated primarily as row vectors, implying the following:

• Transformation matrices are organized to deal with row vectors, not column vectors.
• Each of the Set() methods in this class completely rewrites the matrix; for example, SetRotate() yields a matrix which does nothing but rotate.
• When multiplying two transformation matrices, the matrix on the left applies a more local transformation to a row vector. For example, if R represents a rotation matrix and S represents a scale matrix, the product R*S will rotate a row vector, then scale it.

Definition at line 64 of file matrix3d.h.

Member Typedef Documentation

typedef double GfMatrix3d::ScalarType

Definition at line 67 of file matrix3d.h.

Constructor & Destructor Documentation

GfMatrix3d::GfMatrix3d ( )

default

GfMatrix3d value-initializes to zero and performs no default initialization, like float or double.

GfMatrix3d::GfMatrix3d ( double  m00, double  m01, double  m02, double  m10, double  m11, double  m12, double  m20, double  m21, double  m22  )

inline

Constructor. Initializes the matrix from 9 independent double values, specified in row-major order. For example, parameter m10 specifies the value in row 1 and column 0.

Definition at line 79 of file matrix3d.h.

GfMatrix3d::GfMatrix3d ( const double  m[3][3] )

inline

Constructor. Initializes the matrix from a 3x3 array of double values, specified in row-major order.

Definition at line 89 of file matrix3d.h.

GfMatrix3d::GfMatrix3d ( double  s )

inlineexplicit

Constructor. Explicitly initializes the matrix to s times the identity matrix.

Definition at line 95 of file matrix3d.h.

GfMatrix3d::GfMatrix3d ( int  s )

inlineexplicit

This explicit constructor initializes the matrix to s times the identity matrix.

Definition at line 101 of file matrix3d.h.

GfMatrix3d::GfMatrix3d ( const GfVec3d &  v )

inlineexplicit

Constructor. Explicitly initializes the matrix to diagonal form, with the i th element on the diagonal set to v[i].

Definition at line 107 of file matrix3d.h.

GF_API GfMatrix3d::GfMatrix3d ( const std::vector< std::vector< double > > &  v )

explicit

Constructor. Initialize the matrix from a vector of vectors of double. The vector is expected to be 3x3. If it is too big, only the first 3 rows and/or columns will be used. If it is too small, uninitialized elements will be filled in with the corresponding elements from an identity matrix.

GF_API GfMatrix3d::GfMatrix3d ( const std::vector< std::vector< float > > &  v )

explicit

Constructor. Initialize the matrix from a vector of vectors of float. The vector is expected to be 3x3. If it is too big, only the first 3 rows and/or columns will be used. If it is too small, uninitialized elements will be filled in with the corresponding elements from an identity matrix.

GF_API GfMatrix3d::GfMatrix3d

(

const GfRotation &

rot

)

Constructor. Initialize matrix from rotation.

GF_API GfMatrix3d::GfMatrix3d ( const GfQuatd &  rot )

explicit

Constructor. Initialize matrix from a quaternion.

GF_API GfMatrix3d::GfMatrix3d ( const class GfMatrix3f &  m )

explicit

This explicit constructor converts a "float" matrix to a "double" matrix.

Member Function Documentation

double* GfMatrix3d::data ( )

inline

Returns raw access to components of matrix as an array of double values. Components are in row-major order.

Definition at line 217 of file matrix3d.h.

const double* GfMatrix3d::data ( ) const

inline

Returns const raw access to components of matrix as an array of double values. Components are in row-major order.

Definition at line 223 of file matrix3d.h.

GF_API GfVec3d GfMatrix3d::DecomposeRotation	(	const GfVec3d &	axis0,
		const GfVec3d &	axis1,
		const GfVec3d &	axis2
	)		const

Decompose the rotation corresponding to this matrix about 3 orthogonal axes. If the axes are not orthogonal, warnings will be spewed.

This is a convenience method that is equivalent to calling ExtractRotation().Decompose().

GF_API GfRotation GfMatrix3d::ExtractRotation

(

)

const

Returns the rotation corresponding to this matrix. This works well only if the matrix represents a rotation.

For good results, consider calling Orthonormalize() before calling this method.

GF_API GfQuaternion GfMatrix3d::ExtractRotationQuaternion

(

)

const

Returns the quaternion corresponding to this matrix. This works well only if the matrix represents a rotation.

For good results, consider calling Orthonormalize() before calling this method.

GF_API double* GfMatrix3d::Get

(

double

m[3][3]

)

const

Fills a 3x3 array of double values with the values in the matrix, specified in row-major order.

double* GfMatrix3d::GetArray ( )

inline

Returns vector components as an array of double values.

Definition at line 228 of file matrix3d.h.

const double* GfMatrix3d::GetArray ( ) const

inline

Returns vector components as a const array of double values.

Definition at line 233 of file matrix3d.h.

GfVec3d GfMatrix3d::GetColumn ( int  i ) const

inline

Gets a column of the matrix as a Vec3.

Definition at line 161 of file matrix3d.h.

GF_API double GfMatrix3d::GetDeterminant

(

)

const

Returns the determinant of the matrix.

GF_API double GfMatrix3d::GetHandedness

(

)

const

Returns the sign of the determinant of the matrix, i.e. 1 for a right-handed matrix, -1 for a left-handed matrix, and 0 for a singular matrix.

GF_API GfMatrix3d GfMatrix3d::GetInverse	(	double *	det = NULL,
		double	eps = 0
	)		const

Returns the inverse of the matrix, or FLT_MAX * SetIdentity() if the matrix is singular. (FLT_MAX is the largest value a float can have, as defined by the system.) The matrix is considered singular if the determinant is less than or equal to the optional parameter eps. If det is non-null, *det is set to the determinant.

GF_API GfMatrix3d GfMatrix3d::GetOrthonormalized

(

bool

issueWarning = true

)

const

Returns an orthonormalized copy of the matrix.

GfVec3d GfMatrix3d::GetRow ( int  i ) const

inline

Gets a row of the matrix as a Vec3.

Definition at line 156 of file matrix3d.h.

GF_API GfMatrix3d GfMatrix3d::GetTranspose

(

)

const

Returns the transpose of the matrix.

bool GfMatrix3d::IsLeftHanded ( ) const

inline

Returns true if the vectors in matrix form a left-handed coordinate system.

Definition at line 329 of file matrix3d.h.

bool GfMatrix3d::IsRightHanded ( ) const

inline

Returns true if the vectors in the matrix form a right-handed coordinate system.

Definition at line 323 of file matrix3d.h.

bool GfMatrix3d::operator!= ( const GfMatrix3d &  m ) const

inline

Tests for element-wise matrix inequality. All elements must match exactly for matrices to be considered equal.

Definition at line 274 of file matrix3d.h.

bool GfMatrix3d::operator!= ( const GfMatrix3f &  m ) const

inline

Tests for element-wise matrix inequality. All elements must match exactly for matrices to be considered equal.

Definition at line 280 of file matrix3d.h.

GF_API GfMatrix3d& GfMatrix3d::operator*=

(

const GfMatrix3d &

m

)

Post-multiplies matrix m into this matrix.

GF_API GfMatrix3d& GfMatrix3d::operator*=

(

double

)

Multiplies the matrix by a double.

GF_API GfMatrix3d& GfMatrix3d::operator+=

(

const GfMatrix3d &

m

)

Adds matrix m to this matrix.

GF_API GfMatrix3d& GfMatrix3d::operator-=

(

const GfMatrix3d &

m

)

Subtracts matrix m from this matrix.

GF_API bool GfMatrix3d::operator==

(

const GfMatrix3d &

m

)

const

Tests for element-wise matrix equality. All elements must match exactly for matrices to be considered equal.

GF_API bool GfMatrix3d::operator==

(

const GfMatrix3f &

m

)

const

Tests for element-wise matrix equality. All elements must match exactly for matrices to be considered equal.

double* GfMatrix3d::operator[] ( int  i )

inline

Accesses an indexed row i of the matrix as an array of 3 double values so that standard indexing (such as m[0][1]) works correctly.

Definition at line 240 of file matrix3d.h.

const double* GfMatrix3d::operator[] ( int  i ) const

inline

Accesses an indexed row i of the matrix as an array of 3 double values so that standard indexing (such as m[0][1]) works correctly.

Definition at line 245 of file matrix3d.h.

GF_API bool GfMatrix3d::Orthonormalize

(

bool

issueWarning = true

)

Makes the matrix orthonormal in place. This is an iterative method that is much more stable than the previous cross/cross method. If the iterative method does not converge, a warning is issued.

Returns true if the iteration converged, false otherwise. Leaves any translation part of the matrix unchanged. If issueWarning is true, this method will issue a warning if the iteration does not converge, otherwise it will be silent.

GfMatrix3d& GfMatrix3d::Set ( double  m00, double  m01, double  m02, double  m10, double  m11, double  m12, double  m20, double  m21, double  m22  )

inline

Sets the matrix from 9 independent double values, specified in row-major order. For example, parameter m10 specifies the value in row 1 and column 0.

Definition at line 168 of file matrix3d.h.

GfMatrix3d& GfMatrix3d::Set ( const double  m[3][3] )

inline

Sets the matrix from a 3x3 array of double values, specified in row-major order.

Definition at line 179 of file matrix3d.h.

void GfMatrix3d::SetColumn ( int  i, const GfVec3d &  v  )

inline

Sets a column of the matrix from a Vec3.

Definition at line 149 of file matrix3d.h.

GF_API GfMatrix3d& GfMatrix3d::SetDiagonal

(

double

s

)

Sets the matrix to s times the identity matrix.

GF_API GfMatrix3d& GfMatrix3d::SetDiagonal

(

const GfVec3d &

)

Sets the matrix to have diagonal (v[0], v[1], v[2]).

GfMatrix3d& GfMatrix3d::SetIdentity ( )

inline

Sets the matrix to the identity matrix.

Definition at line 193 of file matrix3d.h.

GF_API GfMatrix3d& GfMatrix3d::SetRotate

(

const GfQuatd &

rot

)

Sets the matrix to specify a rotation equivalent to rot.

GF_API GfMatrix3d& GfMatrix3d::SetRotate

(

const GfRotation &

rot

)

Sets the matrix to specify a rotation equivalent to rot.

void GfMatrix3d::SetRow ( int  i, const GfVec3d &  v  )

inline

Sets a row of the matrix from a Vec3.

Definition at line 142 of file matrix3d.h.

GF_API GfMatrix3d& GfMatrix3d::SetScale

(

double

scaleFactor

)

Sets matrix to specify a uniform scaling by scaleFactor.

GF_API GfMatrix3d& GfMatrix3d::SetScale

(

const GfVec3d &

scaleFactors

)

Sets the matrix to specify a nonuniform scaling in x, y, and z by the factors in vector scaleFactors.

GfMatrix3d& GfMatrix3d::SetZero ( )

inline

Sets the matrix to zero.

Definition at line 198 of file matrix3d.h.

Friends And Related Function Documentation

friend class GfMatrix3f

friend

Definition at line 471 of file matrix3d.h.

size_t hash_value ( GfMatrix3d const &  m )

friend

Hash.

Definition at line 248 of file matrix3d.h.

GfMatrix3d operator* ( const GfMatrix3d &  m1, double  d  )

friend

Returns the product of a matrix and a double.

Definition at line 342 of file matrix3d.h.

GfMatrix3d operator* ( double  d, const GfMatrix3d &  m  )

friend

Definition at line 350 of file matrix3d.h.

GfMatrix3d operator* ( const GfMatrix3d &  m1, const GfMatrix3d &  m2  )

friend

Multiplies matrix m1 by m2.

Definition at line 384 of file matrix3d.h.

GfVec3d operator* ( const GfMatrix3d &  m, const GfVec3d &  vec  )

friend

Returns the product of a matrix m and a column vector vec.

Definition at line 398 of file matrix3d.h.

GfVec3d operator* ( const GfVec3d &  vec, const GfMatrix3d &  m  )

friend

Returns the product of row vector vec and a matrix m.

Definition at line 405 of file matrix3d.h.

GfMatrix3d operator+ ( const GfMatrix3d &  m1, const GfMatrix3d &  m2  )

friend

Adds matrix m2 to m1.

Definition at line 368 of file matrix3d.h.

GF_API friend GfMatrix3d operator- ( const GfMatrix3d &  m )

friend

Returns the unary negation of matrix m.

GfMatrix3d operator- ( const GfMatrix3d &  m1, const GfMatrix3d &  m2  )

friend

Subtracts matrix m2 from m1.

Definition at line 376 of file matrix3d.h.

GfMatrix3d operator/ ( const GfMatrix3d &  m1, const GfMatrix3d &  m2  )

friend

Divides matrix m1 by m2 (that is, m1 * inv(m2)).

Definition at line 392 of file matrix3d.h.

Member Data Documentation

const size_t GfMatrix3d::numColumns = 3

static

Definition at line 70 of file matrix3d.h.

const size_t GfMatrix3d::numRows = 3

static

Definition at line 69 of file matrix3d.h.

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

• pxr/base/gf/matrix3d.h