Double precision 3x3 matrix class. More...

#include <cvb/matrix_3d.hpp>

Public Member Functions
	Matrix3D () noexcept=default
	Default constructor for empty matrix. More...

template<std::size_t N>
	Matrix3D (const double(&list)[N]) noexcept
	Construct a 3x3 matrix with an initializer list. More...

	Matrix3D (double roll, double pitch, double yaw)
	Creates a rotation matrix from the given Euler angles. More...

void	RollPitchYaw (double &roll, double &pitch, double &yaw) const
	Computes the Euler angles Roll, Pitch and Yaw for this matrix. More...

const double *	operator[] (int row) const noexcept
	Index based element access. More...

double *	operator[] (int row) noexcept
	Index based element access. More...

const double &	At (int row, int column) const noexcept
	Index based element access. More...

double &	At (int row, int column) noexcept
	Index based element access. More...

double	Det () const
	Matrix determinant. More...

void	Invert ()
	Inverts this matrix if possible. More...

bool	operator== (const Matrix3D &matrix) const noexcept
	Compares to an other matrix. More...

bool	operator!= (const Matrix3D &matrix) const noexcept
	Compares to an other matrix. More...

Matrix3D &	operator+= (const Matrix3D &matrix) noexcept
	Adds and assigns to this matrix. More...

Matrix3D &	operator-= (const Matrix3D &matrix) noexcept
	Subtracts and assigns to this matrix. More...

Matrix3D &	operator*= (const Matrix3D &matrix)
	Multiplies and assigns to this matrix. More...

Matrix3D &	operator*= (const double &value) noexcept
	Multiplies and assigns to this matrix. More...

Matrix3D &	operator/= (const double &value) noexcept
	Divides each element of this matrix by the given value. More...

Static Public Member Functions
static Matrix3D	Identity () noexcept
	The identity element. More...

Related Functions
(Note that these are not member functions.)
Matrix3D	operator+ (const Matrix3D &lhs, const Matrix3D &rhs)
	Add two matrices. More...

Matrix3D	operator- (const Matrix3D &lhs, const Matrix3D &rhs)
	Subtract two matrices. More...

Matrix3D	operator* (const Matrix3D &lhs, const Matrix3D &rhs)
	Multiply two matrices. More...

Point3D< double >	operator* (const Matrix3D &lhs, const Point3D< double > &rhs)
	Multiply matrix with 3D point. More...

Matrix3D	operator* (const Matrix3D &lhs, const double &rhs)
	Multiply matrix with scalar. More...

Matrix3D	operator* (const double &lhs, const Matrix3D &rhs)
	Multiply scalar with matrix . More...

Matrix3D	operator/ (const Matrix3D &lhs, const double &rhs)
	Divide matrix by scalar. More...

Detailed Description

Double precision 3x3 matrix class.

Constructor & Destructor Documentation

◆ Matrix3D() [1/3]

Matrix3D ( )

defaultnoexcept

Default constructor for empty matrix.

Exceptions

Does	not throw any exception.

◆ Matrix3D() [2/3]

Matrix3D ( const double(&) list[N] )

inlinenoexcept

Construct a 3x3 matrix with an initializer list.

Parameters

[in] list Containing exactly 9 elements.

Exceptions

Does	not throw any exception.

◆ Matrix3D() [3/3]

Matrix3D	(	double	roll,
		double	pitch,
		double	yaw
	)

inline

Creates a rotation matrix from the given Euler angles.

Parameters

[in]	roll	Angle around x″ in degrees.
[in]	pitch	Angle around y′ axis in degrees.
[in]	yaw	Angle around z axis in degrees.

Exceptions

Any	exception derived from std::exception including CvbException.

Member Function Documentation

◆ At() [1/2]

const double & At	(	int	row,
		int	column
	)		const

inlinenoexcept

Index based element access.

Parameters

[in]	row	The row to access.
[in]	column	The column to access.

Returns: The matrix element.

Exceptions

Does	not throw any exception.

◆ At() [2/2]

double & At	(	int	row,
		int	column
	)

inlinenoexcept

Index based element access.

Parameters

[in]	row	The row to access.
[in]	column	The column to access.

Returns: The matrix element.

Exceptions

Does	not throw any exception.

◆ Det()

double Det ( ) const

inline

Matrix determinant.

Returns: The determinant.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ Identity()

static Matrix3D Identity ( )

inlinestaticnoexcept

The identity element.

Returns: An identity matrix.

Exceptions

Does	not throw any exception.

◆ Invert()

void Invert ( )

inline

Inverts this matrix if possible.

Exceptions

Any	exception derived from std::exception including CvbException.

Might cause division by zero.

◆ operator!=()

bool operator!= ( const Matrix3D & matrix ) const

inlinenoexcept

Compares to an other matrix.

Parameters

[in] matrix Other matrix.

Returns: True if not equal, otherwise false.

Exceptions

Does	not throw any exception.

◆ operator*=() [1/2]

Matrix3D & operator*= ( const double & value )

inlinenoexcept

Multiplies and assigns to this matrix.

Parameters

[in] value Factor.

Returns: This matrix.

Exceptions

Does	not throw any exception.

◆ operator*=() [2/2]

Matrix3D & operator*= ( const Matrix3D & matrix )

inline

Multiplies and assigns to this matrix.

Parameters

[in] matrix Other matrix.

Returns: This matrix.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ operator+=()

Matrix3D & operator+= ( const Matrix3D & matrix )

inlinenoexcept

Adds and assigns to this matrix.

Parameters

[in] matrix Other matrix.

Returns: This matrix.

Exceptions

Does	not throw any exception.

◆ operator-=()

Matrix3D & operator-= ( const Matrix3D & matrix )

inlinenoexcept

Subtracts and assigns to this matrix.

Parameters

[in] matrix Other matrix.

Returns: This matrix.

Exceptions

Does	not throw any exception.

◆ operator/=()

Matrix3D & operator/= ( const double & value )

inlinenoexcept

Divides each element of this matrix by the given value.

Parameters

[in] value Divisor.

Returns: This matrix.

Exceptions

Does	not throw any exception.

◆ operator==()

bool operator== ( const Matrix3D & matrix ) const

inlinenoexcept

Compares to an other matrix.

Parameters

[in] matrix Other matrix.

Returns: True if equal, otherwise false.

Exceptions

Does	not throw any exception.

◆ operator[]() [1/2]

const double * operator[] ( int row ) const

inlinenoexcept

Index based element access.

Parameters

[in] row

Returns: A raw pointer to the row

Exceptions

Does	not throw any exception.

◆ operator[]() [2/2]

double * operator[] ( int row )

inlinenoexcept

Index based element access.

Parameters

[in] row

Returns: A raw pointer to the row

Exceptions

Does	not throw any exception.

◆ RollPitchYaw()

void RollPitchYaw	(	double &	roll,
		double &	pitch,
		double &	yaw
	)		const

inline

Computes the Euler angles Roll, Pitch and Yaw for this matrix.

Parameters

[in]	roll	Variable to receive angle around x″ in degrees.
[in]	pitch	Variable to receive angle around y′ in degrees.
[in]	yaw	Variable to receive angle around z axis in degrees.

Exceptions

Any	exception derived from std::exception including CvbException.

Note: If the resulting pitch is outside the range ]-90° .. 90°[, the computation of the Euler angles is ambiguous (rotation direction may be inversed).

Friends And Related Function Documentation

◆ operator*() [1/4]

Matrix3D operator*	(	const double &	lhs,
		const Matrix3D &	rhs
	)

Parameters

[in]	lhs	Right hand side value.
[in]	rhs	Left hand side matrix.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator*() [2/4]

Matrix3D operator*	(	const Matrix3D &	lhs,
		const double &	rhs
	)

Parameters

[in]	lhs	Right hand side matrix.
[in]	rhs	Left hand side value.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator*() [3/4]

Matrix3D operator*	(	const Matrix3D &	lhs,
		const Matrix3D &	rhs
	)

Parameters

[in]	lhs	Right hand side matrix.
[in]	rhs	Left hand side matrix.

Returns: The computation result.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ operator*() [4/4]

Point3D< double > operator*	(	const Matrix3D &	lhs,
		const Point3D< double > &	rhs
	)

Parameters

[in]	lhs	Right hand side matrix.
[in]	rhs	Left hand side point.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator+()

Matrix3D operator+	(	const Matrix3D &	lhs,
		const Matrix3D &	rhs
	)

Parameters

[in]	lhs	Right hand side matrix.
[in]	rhs	Left hand side matrix.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator-()

Matrix3D operator-	(	const Matrix3D &	lhs,
		const Matrix3D &	rhs
	)

Parameters

[in]	lhs	Right hand side matrix.
[in]	rhs	Left hand side matrix.

Returns: The computation result.

Exceptions

Does	not throw any exception.

◆ operator/()

Matrix3D operator/	(	const Matrix3D &	lhs,
		const double &	rhs
	)

Parameters

[in]	lhs	Right hand side matrix.
[in]	rhs	Left hand side value.

Returns: The computation result.

Exceptions

Does	not throw any exception.

Public Member Functions

Static Public Member Functions

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ Matrix3D() [1/3]

◆ Matrix3D() [2/3]

◆ Matrix3D() [3/3]

Member Function Documentation

◆ At() [1/2]

◆ At() [2/2]

◆ Det()

◆ Identity()

◆ Invert()

◆ operator!=()

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+=()

◆ operator-=()

◆ operator/=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ RollPitchYaw()

Friends And Related Function Documentation

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator+()

◆ operator-()

◆ operator/()