Matrix3D

java.lang.Object
- us.ihmc.euclid.matrix.Matrix3D

All Implemented Interfaces:

Clearable, EpsilonComparable<Matrix3D>, GeometricallyComparable<Matrix3D>, GeometryObject<Matrix3D>, Settable<Matrix3D>, Transformable, Matrix3DBasics, Matrix3DReadOnly
```
public class Matrix3D
extends java.lang.Object
implements Matrix3DBasics, GeometryObject<Matrix3D>
```
A Matrix3D is a 3-by-3 matrix used for general linear applications.
This version of 3D matrix uses double precision fields to save the value of each component. It is meant for garbage free usage.

Author:

Sylvain Bertrand

Constructor Summary

Constructors
Constructor	Description
`Matrix3D()`	Creates a new 3D matrix with all its coefficients set to zero.
`Matrix3D(double[] matrixArray)`	Creates a new 3D matrix and initializes it from the given array.
`Matrix3D(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)`	Creates a new 3D matrix and initializes it from the given 9 coefficients.
`Matrix3D(Matrix3DReadOnly other)`	Creates a new 3D matrix that is the same as `other`.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`add(Matrix3DReadOnly other)`	Performs a per-component addition onto the coefficients of this matrix.
`void`	`add(Matrix3DReadOnly matrix1, Matrix3DReadOnly matrix2)`	Sets this matrix coefficients to the per-component sum of the two given matrices.
`void`	`applyInverseTransform(Transform transform)`	Transform this using the inverse of the given `transform`.
`void`	`applyTransform(Transform transform)`	Transform this using the given `transform`.
`boolean`	`epsilonEquals(Matrix3D other, double epsilon)`	Tests on a per coefficient basis if this matrix is equal to the given `other` to an `epsilon`.
`boolean`	`equals(java.lang.Object object)`	Tests if the given `object`'s class is the same as this, in which case the method returns `Matrix3DReadOnly.equals(Matrix3DReadOnly)`, it returns `false` otherwise or if the `object` is `null`.
`void`	`fill(double scalar)`	Sets all the coefficients of this matrix to be equal to `scalar`.
`boolean`	`geometricallyEquals(Matrix3D other, double epsilon)`	Two 3D matrices are considered geometrically equal if they are epsilon equal.
`double`	`getM00()`	Gets the 1st row 1st column coefficient of this matrix.
`double`	`getM01()`	Gets the 1st row 2nd column coefficient of this matrix.
`double`	`getM02()`	Gets the 1st row 3rd column coefficient of this matrix.
`double`	`getM10()`	Gets the 2nd row 1st column coefficient of this matrix.
`double`	`getM11()`	Gets the 2nd row 2nd column coefficient of this matrix.
`double`	`getM12()`	Gets the 2nd row 3rd column coefficient of this matrix.
`double`	`getM20()`	Gets the 3rd row 1st column coefficient of this matrix.
`double`	`getM21()`	Gets the 3rd row 2nd column coefficient of this matrix.
`double`	`getM22()`	Gets the 3rd row 3rd column coefficient of this matrix.
`int`	`hashCode()`	Calculates and returns a hash code value from the value of each component of this matrix.
`void`	`inverseTransform(Matrix3DReadOnly matrixOriginal, Matrix3D matrixTransformed)`	Performs the inverse of the transforms to the given 3D matrix `matrixOriginal` by this matrix and stores the result in `matrixTransformed`.
`void`	`inverseTransform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane)`	Performs the inverse of the transform to the given tuple `tupleOriginal` by this matrix and stores the result in `tupleTransformed`.
`void`	`inverseTransform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)`	Performs the inverse of the transform to the given tuple `tupleOriginal` by this matrix and stores the result in `tupleTransformed`.
`void`	`inverseTransform(Vector4DReadOnly vectorOriginal, Vector4DBasics vectorTransformed)`	Performs the inverse of the transform to the vector part the given 4D vector `vectorOriginal` by this matrix and stores the result in `vectorTransformed`.
`void`	`invert()`	Invert this matrix.
`void`	`multiply(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`multiplyInvertOther(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`multiplyInvertOther(RotationMatrixReadOnly other)`	Performs a matrix multiplication on this.
`void`	`multiplyInvertOther(RotationScaleMatrixReadOnly other)`	Performs a matrix multiplication on this.
`void`	`multiplyInvertThis(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`multiplyOuter()`	Sets this matrix to be equal to its outer-product.
`void`	`multiplyTransposeBoth(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`multiplyTransposeOther(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`multiplyTransposeThis(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`negate()`	Negates each component of this matrix.
`void`	`normalize()`	Orthonormalization of this matrix using the Gram-Schmidt method.
`void`	`preMultiply(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`preMultiplyInvertOther(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`preMultiplyInvertOther(RotationMatrixReadOnly other)`	Performs a matrix multiplication on this.
`void`	`preMultiplyInvertOther(RotationScaleMatrixReadOnly other)`	Performs a matrix multiplication on this.
`void`	`preMultiplyInvertThis(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`preMultiplyTransposeBoth(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`preMultiplyTransposeOther(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`preMultiplyTransposeThis(Matrix3DReadOnly other)`	Performs a matrix multiplication on this.
`void`	`scale(double scalar)`	Performs a per-component scale on this matrix.
`void`	`scaleColumn(int column, double scalar)`	Scales the components of the `column`^th column of this matrix.
`void`	`scaleColumns(double scalarColumn0, double scalarColumn1, double scalarColumn2)`	Scales individually each column of this matrix.
`void`	`scaleM00(double scalar)`	Scales the value of the 1st row 1st column component.
`void`	`scaleM01(double scalar)`	Scales the value of the 1st row 2nd column component.
`void`	`scaleM02(double scalar)`	Scales the value of the 1st row 3rd column component.
`void`	`scaleM10(double scalar)`	Scales the value of the 2nd row 1st column component.
`void`	`scaleM11(double scalar)`	Scales the value of the 2nd row 2nd column component.
`void`	`scaleM12(double scalar)`	Scales the value of the 2nd row 3rd column component.
`void`	`scaleM20(double scalar)`	Scales the value of the 3rd row 1st column component.
`void`	`scaleM21(double scalar)`	Scales the value of the 3rd row 2nd column component.
`void`	`scaleM22(double scalar)`	Scales the value of the 3rd row 3rd column component.
`void`	`scaleRow(int row, double scalar)`	Scales the components of the `row`^th row of this matrix.
`void`	`scaleRows(double scalarRow0, double scalarRow1, double scalarRow2)`	Scales individually each row of this matrix.
`void`	`set(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)`	Sets the 9 coefficients of this matrix to the given ones.
`void`	`set(Matrix3D other)`	Copies the values from `other` into this object.
`void`	`setAndInvert(Matrix3DReadOnly other)`	Set this matrix to the inverse of the other matrix.
`void`	`setAndMultiplyOuter(Matrix3DReadOnly other)`	Sets this matrix to be equal to the outer-product of `other`.
`void`	`setAndNegate(Matrix3DReadOnly other)`	Sets this matrix to `other` and then calls `negate()`.
`void`	`setAndNormalize(Matrix3DReadOnly other)`	Sets this matrix to equal the other matrix and then normalizes this, see `normalize()`.
`void`	`setAndTranspose(Matrix3DReadOnly other)`	Sets this matrix to equal the other matrix and then transposes this.
`void`	`setColumn(int column, double[] columnArray)`	Sets the `column`^th column components to the values contained in the given array `columnArray`.
`void`	`setColumn(int column, double x, double y, double z)`	Sets the `column`^th column components to the given values.
`void`	`setColumn(int column, Tuple3DReadOnly columnValues)`	Sets the `column`^th column components to the values contained in the given tuple `columnValues`.
`void`	`setElement(int row, int column, double value)`	Sets the value of the component of this matrix located by its row and column indices.
`void`	`setM00(double m00)`	Sets the value of the 1st row 1st column component.
`void`	`setM01(double m01)`	Sets the value of the 1st row 2nd column component.
`void`	`setM02(double m02)`	Sets the value of the 1st row 3rd column component.
`void`	`setM10(double m10)`	Sets the value of the 2nd row 1st column component.
`void`	`setM11(double m11)`	Sets the value of the 2nd row 2nd column component.
`void`	`setM12(double m12)`	Sets the value of the 2nd row 3rd column component.
`void`	`setM20(double m20)`	Sets the value of the 3rd row 1st column component.
`void`	`setM21(double m21)`	Sets the value of the 3rd row 2nd column component.
`void`	`setM22(double m22)`	Sets the value of the 3rd row 3rd column component.
`void`	`setRow(int row, double[] rowArray)`	Sets the `row`^th row components to the values contained in the given array `rowArray`.
`void`	`setRow(int row, double x, double y, double z)`	Sets the `row`^th row components to the given values.
`void`	`setRow(int row, Tuple3DReadOnly rowValues)`	Sets the `row`^th row components to the values contained in the given tuple `rowValues`.
`void`	`setToPitchMatrix(double pitch)`	Sets this matrix to represent a counter clockwise rotation around the y-axis of an angle `pitch`.
`void`	`setToRollMatrix(double roll)`	Sets this matrix to represent a counter clockwise rotation around the x-axis of an angle `roll`.
`void`	`setToTildeForm(Tuple3DReadOnly tuple)`	Converts a vector to tilde form (matrix implementation of cross product).
`void`	`setToYawMatrix(double yaw)`	Sets this matrix to represent to represent a counter clockwise rotation around the z-axis of an angle `yaw`.
`void`	`setToZero()`	Sets all the coefficients of this matrix to zero.
`void`	`sub(Matrix3DReadOnly other)`	Performs a per-component subtraction onto the coefficients of this matrix.
`void`	`sub(Matrix3DReadOnly matrix1, Matrix3DReadOnly matrix2)`	Sets this matrix coefficients to the per-component difference of the two given matrices.
`java.lang.String`	`toString()`	Provides a `String` representation of this matrix as follows: m00, m01, m02 m10, m11, m12 m20, m21, m22
`void`	`transform(Matrix3DReadOnly matrixOriginal, Matrix3D matrixTransformed)`	Transforms the given 3D matrix `matrixOriginal` by this matrix and stores the result in `matrixTransformed`.
`void`	`transpose()`	Transposes this matrix: m = m^T.

Methods inherited from interface us.ihmc.euclid.matrix.interfaces.Matrix3DBasics
containsNaN, set, set, set, set, set, setIdentity, setToNaN

Methods inherited from interface us.ihmc.euclid.matrix.interfaces.Matrix3DReadOnly
addTransform, addTransform, checkIfMatrix2D, checkIfRotationMatrix, determinant, epsilonEquals, equals, get, get, get, get, getColumn, getColumn, getElement, getRow, getRow, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, isIdentity, isIdentity, isMatrix2D, isMatrix2D, isMatrixSkewSymmetric, isMatrixSkewSymmetric, isRotationMatrix, isRotationMatrix, transform, transform, transform, transform, transform, transform, transform, transform, transform

Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - Matrix3D
```
public Matrix3D()
```
    Creates a new 3D matrix with all its coefficients set to zero.
  - Matrix3D
```
public Matrix3D(double[] matrixArray)
```
    Creates a new 3D matrix and initializes it from the given array.
```
        / matrixArray[0]  matrixArray[1]  matrixArray[2] \
 this = | matrixArray[3]  matrixArray[4]  matrixArray[5] |
        \ matrixArray[6]  matrixArray[7]  matrixArray[8] /
 
```
    Parameters:
    
    matrixArray - the array containing the values for this matrix. Not modified.
  - Matrix3D
```
public Matrix3D(double m00,
                double m01,
                double m02,
                double m10,
                double m11,
                double m12,
                double m20,
                double m21,
                double m22)
```
    Creates a new 3D matrix and initializes it from the given 9 coefficients.
    
    Parameters:
    
    m00 - the 1st row 1st column coefficient for this matrix.
    
    m01 - the 1st row 2nd column coefficient for this matrix.
    
    m02 - the 1st row 3rd column coefficient for this matrix.
    
    m10 - the 2nd row 1st column coefficient for this matrix.
    
    m11 - the 2nd row 2nd column coefficient for this matrix.
    
    m12 - the 2nd row 3rd column coefficient for this matrix.
    
    m20 - the 3rd row 1st column coefficient for this matrix.
    
    m21 - the 3rd row 2nd column coefficient for this matrix.
    
    m22 - the 3rd row 3rd column coefficient for this matrix.
  - Matrix3D
```
public Matrix3D(Matrix3DReadOnly other)
```
    Creates a new 3D matrix that is the same as other.
    
    Parameters:
    
    other - the other 3D matrix to copy the values from. Not modified.
- Method Detail
  - setToZero
```
public void setToZero()
```
    Sets all the coefficients of this matrix to zero.
    
    Specified by:
    
    setToZero in interface Clearable
  - transpose
```
public void transpose()
```
    Transposes this matrix: m = m^T.
  - set
```
public void set(double m00,
                double m01,
                double m02,
                double m10,
                double m11,
                double m12,
                double m20,
                double m21,
                double m22)
```
    Sets the 9 coefficients of this matrix to the given ones.
    
    Specified by:
    
    set in interface Matrix3DBasics
    
    Parameters:
    
    m00 - the new 1st row 1st column coefficient for this matrix.
    
    m01 - the new 1st row 2nd column coefficient for this matrix.
    
    m02 - the new 1st row 3rd column coefficient for this matrix.
    
    m10 - the new 2nd row 1st column coefficient for this matrix.
    
    m11 - the new 2nd row 2nd column coefficient for this matrix.
    
    m12 - the new 2nd row 3rd column coefficient for this matrix.
    
    m20 - the new 3rd row 1st column coefficient for this matrix.
    
    m21 - the new 3rd row 2nd column coefficient for this matrix.
    
    m22 - the new 3rd row 3rd column coefficient for this matrix.
  - set
```
public void set(Matrix3D other)
```
    Copies the values from other into this object.
    
    Specified by:
    
    set in interface Settable<Matrix3D>
    
    Parameters:
    
    other - the other object to copy the values from. Not modified.
  - setToTildeForm
```
public void setToTildeForm(Tuple3DReadOnly tuple)
```
    Converts a vector to tilde form (matrix implementation of cross product).
```
        /  0 -z  y \
 this = |  z  0 -x |
        \ -y  x  0 /
 
```
    Parameters:
    
    tuple - the tuple to use to create its tilde form. Not modified.
  - setAndMultiplyOuter
```
public void setAndMultiplyOuter(Matrix3DReadOnly other)
```
    Sets this matrix to be equal to the outer-product of other.
    this = other * other^T
    
    Parameters:
    
    other - the other matrix used for this operation. Not modified.
  - setAndInvert
```
public void setAndInvert(Matrix3DReadOnly other)
```
    Set this matrix to the inverse of the other matrix.
    this = other^-1
    
    Parameters:
    
    other - the other matrix. Not modified.
    
    Throws:
    
    SingularMatrixException - if the matrix is not invertible.
  - setAndNormalize
```
public void setAndNormalize(Matrix3DReadOnly other)
```
    Sets this matrix to equal the other matrix and then normalizes this, see normalize().
    
    Parameters:
    
    other - the other matrix used to update this matrix. Not modified.
  - setAndTranspose
```
public void setAndTranspose(Matrix3DReadOnly other)
```
    Sets this matrix to equal the other matrix and then transposes this.
    this = other^T
    
    Parameters:
    
    other - the other matrix used to update this matrix. Not modified.
  - setAndNegate
```
public void setAndNegate(Matrix3DReadOnly other)
```
    Sets this matrix to other and then calls negate().
    
    Parameters:
    
    other - the other matrix used to update this matrix. Not modified.
  - setToYawMatrix
```
public void setToYawMatrix(double yaw)
```
    Sets this matrix to represent to represent a counter clockwise rotation around the z-axis of an angle yaw.
```
        / cos(yaw) -sin(yaw) 0 \
 this = | sin(yaw)  cos(yaw) 0 |
        \    0         0     1 /
 
```
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
  - setToPitchMatrix
```
public void setToPitchMatrix(double pitch)
```
    Sets this matrix to represent a counter clockwise rotation around the y-axis of an angle pitch.
```
        /  cos(pitch) 0 sin(pitch) \
 this = |      0      1     0      |
        \ -sin(pitch) 0 cos(pitch) /
 
```
    Parameters:
    
    pitch - the angle to rotate about the y-axis.
  - setToRollMatrix
```
public void setToRollMatrix(double roll)
```
    Sets this matrix to represent a counter clockwise rotation around the x-axis of an angle roll.
```
        / 1     0          0     \
 this = | 0 cos(roll) -sin(roll) |
        \ 0 sin(roll)  cos(roll) /
 
```
    Parameters:
    
    roll - the angle to rotate about the x-axis.
  - add
```
public void add(Matrix3DReadOnly other)
```
    Performs a per-component addition onto the coefficients of this matrix.
    this = this + other
    
    Parameters:
    
    other - the other matrix to use for the addition. Not modified.
  - add
```
public void add(Matrix3DReadOnly matrix1,
                Matrix3DReadOnly matrix2)
```
    Sets this matrix coefficients to the per-component sum of the two given matrices.
    this = matrix1 + matrix2
    
    Parameters:
    
    matrix1 - the first term of the addition. Not modified.
    
    matrix2 - the second term of the addition. Not modified.
  - sub
```
public void sub(Matrix3DReadOnly other)
```
    Performs a per-component subtraction onto the coefficients of this matrix.
    this = this - other
    
    Parameters:
    
    other - the other matrix to use for the subtraction. Not modified.
  - sub
```
public void sub(Matrix3DReadOnly matrix1,
                Matrix3DReadOnly matrix2)
```
    Sets this matrix coefficients to the per-component difference of the two given matrices.
    this = matrix1 - matrix2
    
    Parameters:
    
    matrix1 - the first term of the addition. Not modified.
    
    matrix2 - the second term of the addition. Not modified.
  - fill
```
public void fill(double scalar)
```
    Sets all the coefficients of this matrix to be equal to scalar.
```
        / scalar scalar scalar \
 this = | scalar scalar scalar |
        \ scalar scalar scalar /
 
```
    Parameters:
    
    scalar - the scalar value to fill this matrix with.
  - scale
```
public void scale(double scalar)
```
    Performs a per-component scale on this matrix.
    this = scalar * this
    
    Parameters:
    
    scalar - the scale factor to use on the components of this matrix.
  - scaleRows
```
public void scaleRows(double scalarRow0,
                      double scalarRow1,
                      double scalarRow2)
```
    Scales individually each row of this matrix.
```
        / scalarRow0 * m00 scalarRow0 * m01 scalarRow0 * m02 \
 this = | scalarRow1 * m10 scalarRow1 * m11 scalarRow1 * m12 |
        \ scalarRow2 * m20 scalarRow2 * m21 scalarRow2 * m22 /
 
```
    This operation is equivalent to pre-multiplying this matrix, i.e. this = D * this, by the following diagonal matrix D:
```
     / scaleRow0     0         0     \
 D = |     0     scaleRow1     0     |
     \     0         0     scaleRow2 /
 
```
    Parameters:
    
    scalarRow0 - the scale factor to use on the components of the 1st row.
    
    scalarRow1 - the scale factor to use on the components of the 2nd row.
    
    scalarRow2 - the scale factor to use on the components of the 3rd row.
  - scaleColumns
```
public void scaleColumns(double scalarColumn0,
                         double scalarColumn1,
                         double scalarColumn2)
```
    Scales individually each column of this matrix.
```
        / scalarColumn0 * m00 scalarColumn1 * m01 scalarColumn2 * m02 \
 this = | scalarColumn0 * m10 scalarColumn1 * m11 scalarColumn2 * m12 |
        \ scalarColumn0 * m20 scalarColumn1 * m21 scalarColumn2 * m22 /
 
```
    This operation is equivalent to multiplying this matrix, i.e. this = this * D, by the following diagonal matrix D:
```
     / scalarColumn0       0             0       \
 D = |       0       scalarColumn1       0       |
     \       0             0       scalarColumn2 /
 
```
    Parameters:
    
    scalarColumn0 - the scale factor to use on the components of the 1st column.
    
    scalarColumn1 - the scale factor to use on the components of the 2nd column.
    
    scalarColumn2 - the scale factor to use on the components of the 3rd column.
  - multiplyOuter
```
public void multiplyOuter()
```
    Sets this matrix to be equal to its outer-product.
    this = this * this^T
  - applyTransform
```
public void applyTransform(Transform transform)
```
    Transform this using the given transform.
    this = R * this * R^T
    where 'R' is the 3-by-3 matrix representing the rotation part of the transform.
    
    Note: the transformation of a Matrix3D strongly differs from the transformation of a RotationMatrix.
    
    Specified by:
    
    applyTransform in interface Transformable
    
    Parameters:
    
    transform - the transform to use on this. Not modified.
  - applyInverseTransform
```
public void applyInverseTransform(Transform transform)
```
    Transform this using the inverse of the given transform.
    this = R^T * this * R
    where 'R' is the 3-by-3 matrix representing the rotation part of the transform.
    
    Note: the transformation of a Matrix3D strongly differs from the transformation of a RotationMatrix.
    
    Specified by:
    
    applyInverseTransform in interface Transformable
    
    Parameters:
    
    transform - the transform to use on this. Not modified.
  - invert
```
public void invert()
```
    Invert this matrix.
    this = this^-1
    
    Throws:
    
    SingularMatrixException - if the matrix is not invertible.
  - normalize
```
public void normalize()
```
    Orthonormalization of this matrix using the Gram-Schmidt method.
  - negate
```
public void negate()
```
    Negates each component of this matrix.
  - multiply
```
public void multiply(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = this * other
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - multiplyTransposeThis
```
public void multiplyTransposeThis(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = this^T * other
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - multiplyTransposeOther
```
public void multiplyTransposeOther(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = this * other^T
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - multiplyTransposeBoth
```
public void multiplyTransposeBoth(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = this^T * other^T
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - multiplyInvertThis
```
public void multiplyInvertThis(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = this^-1 * other
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
    
    Throws:
    
    SingularMatrixException - if this is not invertible.
  - multiplyInvertOther
```
public void multiplyInvertOther(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = this * other^-1
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
    
    Throws:
    
    SingularMatrixException - if other is not invertible.
  - multiplyInvertOther
```
public void multiplyInvertOther(RotationMatrixReadOnly other)
```
    Performs a matrix multiplication on this.
    this = this * other^-1
    
    This operation uses the property:
    R^-1 = R^T
    of the rotation matrix preventing to actually compute its inverse.
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - multiplyInvertOther
```
public void multiplyInvertOther(RotationScaleMatrixReadOnly other)
```
    Performs a matrix multiplication on this.
    this = this * other^-1
    
    This operation uses the property:
    (R * S)^-1 = S^-1 * R^T
    of the rotation-scale matrix preventing to actually compute its inverse.
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - preMultiply
```
public void preMultiply(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = other * this
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - preMultiplyTransposeThis
```
public void preMultiplyTransposeThis(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = other * this^T
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - preMultiplyTransposeOther
```
public void preMultiplyTransposeOther(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = other^T * this
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - preMultiplyTransposeBoth
```
public void preMultiplyTransposeBoth(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = other^T * this^T
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - preMultiplyInvertThis
```
public void preMultiplyInvertThis(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = other * this^-1
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
    
    Throws:
    
    SingularMatrixException - if this is not invertible.
  - preMultiplyInvertOther
```
public void preMultiplyInvertOther(Matrix3DReadOnly other)
```
    Performs a matrix multiplication on this.
    this = other^-1 * this
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
    
    Throws:
    
    SingularMatrixException - if other is not invertible.
  - preMultiplyInvertOther
```
public void preMultiplyInvertOther(RotationMatrixReadOnly other)
```
    Performs a matrix multiplication on this.
    this = other^-1 * this
    
    This operation uses the property:
    R^-1 = R^T
    of the rotation matrix preventing to actually compute its inverse.
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - preMultiplyInvertOther
```
public void preMultiplyInvertOther(RotationScaleMatrixReadOnly other)
```
    Performs a matrix multiplication on this.
    this = other^-1 * this
    
    This operation uses the property:
    (R * S)^-1 = S^-1 * R^T
    of the rotation-scale matrix preventing to actually compute its inverse.
    
    Parameters:
    
    other - the other matrix to multiply this by. Not modified.
  - transform
```
public void transform(Matrix3DReadOnly matrixOriginal,
                      Matrix3D matrixTransformed)
```
    Transforms the given 3D matrix matrixOriginal by this matrix and stores the result in matrixTransformed.
    matrixTransformed = this * matrixOriginal * this^-1
    
    Specified by:
    
    transform in interface Matrix3DReadOnly
    
    Parameters:
    
    matrixOriginal - the matrix to transform. Not modified.
    
    matrixTransformed - the matrix in which the result is stored. Modified.
  - inverseTransform
```
public void inverseTransform(Tuple3DReadOnly tupleOriginal,
                             Tuple3DBasics tupleTransformed)
```
    Performs the inverse of the transform to the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
    tupleTransformed = this^-1 * tupleOriginal
    
    Specified by:
    
    inverseTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    tupleOriginal - the tuple to transform. Not modified.
    
    tupleTransformed - the tuple in which the result is stored. Modified.
  - inverseTransform
```
public void inverseTransform(Tuple2DReadOnly tupleOriginal,
                             Tuple2DBasics tupleTransformed,
                             boolean checkIfTransformInXYPlane)
```
    Performs the inverse of the transform to the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
    tupleTransformed = this^-1 * tupleOriginal
    
    Specified by:
    
    inverseTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    tupleOriginal - the tuple to transform. Not modified.
    
    tupleTransformed - the tuple in which the result is stored. Modified.
    
    checkIfTransformInXYPlane - whether this method should assert that this matrix represents a transformation in the XY plane.
  - inverseTransform
```
public void inverseTransform(Vector4DReadOnly vectorOriginal,
                             Vector4DBasics vectorTransformed)
```
    Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this matrix and stores the result in vectorTransformed.
    vectorTransformed.s = vectorOriginal.s
    vectorTransformed.xyz = this^-1 * vectorOriginal.xyz
    
    Specified by:
    
    inverseTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    vectorOriginal - the vector to transform. Not modified.
    
    vectorTransformed - the vector in which the result is stored. Modified.
  - inverseTransform
```
public void inverseTransform(Matrix3DReadOnly matrixOriginal,
                             Matrix3D matrixTransformed)
```
    Performs the inverse of the transforms to the given 3D matrix matrixOriginal by this matrix and stores the result in matrixTransformed.
    matrixTransformed = this^-1 * matrixOriginal * this^-1
    
    Specified by:
    
    inverseTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    matrixOriginal - the matrix to transform. Not modified.
    
    matrixTransformed - the matrix in which the result is stored. Modified.
  - setRow
```
public void setRow(int row,
                   double[] rowArray)
```
    Sets the row^th row components to the values contained in the given array rowArray.
    
    Parameters:
    
    row - the index of the row to set the values of.
    
    rowArray - the array containing the new values for the row. Not modified.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if row ∉ [0, 2].
  - setRow
```
public void setRow(int row,
                   Tuple3DReadOnly rowValues)
```
    Sets the row^th row components to the values contained in the given tuple rowValues.
    
    Parameters:
    
    row - the index of the row to set the values of.
    
    rowValues - the tuple containing the new values for the row. Not modified.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if row ∉ [0, 2].
  - setRow
```
public void setRow(int row,
                   double x,
                   double y,
                   double z)
```
    Sets the row^th row components to the given values.
    
    Parameters:
    
    row - the index of the row to set the values of.
    
    x - the new value of the first component in the row.
    
    y - the new value of the second component in the row.
    
    z - the new value of the third component in the row.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if row ∉ [0, 2].
  - setColumn
```
public void setColumn(int column,
                      double[] columnArray)
```
    Sets the column^th column components to the values contained in the given array columnArray.
    
    Parameters:
    
    column - the index of the column to set the values of.
    
    columnArray - the array containing the new values for the column. Not modified.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if column ∉ [0, 2].
  - setColumn
```
public void setColumn(int column,
                      Tuple3DReadOnly columnValues)
```
    Sets the column^th column components to the values contained in the given tuple columnValues.
    
    Parameters:
    
    column - the index of the column to set the values of.
    
    columnValues - the tuple containing the new values for the column. Not modified.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if column ∉ [0, 2].
  - setColumn
```
public void setColumn(int column,
                      double x,
                      double y,
                      double z)
```
    Sets the column^th column components to the given values.
    
    Parameters:
    
    column - the index of the column to set the values of.
    
    x - the new value of the first component in the column.
    
    y - the new value of the second component in the column.
    
    z - the new value of the third component in the column.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if column ∉ [0, 2].
  - scaleRow
```
public void scaleRow(int row,
                     double scalar)
```
    Scales the components of the row^th row of this matrix.
    
    Parameters:
    
    row - the index of the row to scale.
    
    scalar - the scale factor to apply.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if row ∉ [0, 2].
  - scaleColumn
```
public void scaleColumn(int column,
                        double scalar)
```
    Scales the components of the column^th column of this matrix.
    
    Parameters:
    
    column - the index of the column to scale.
    
    scalar - the scale factor to apply.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if column ∉ [0, 2].
  - setElement
```
public void setElement(int row,
                       int column,
                       double value)
```
    Sets the value of the component of this matrix located by its row and column indices.
    
    Parameters:
    
    row - the index of the component's row.
    
    column - the index of the component's column.
    
    value - the new value of the component.
    
    Throws:
    
    java.lang.ArrayIndexOutOfBoundsException - if row ∉ [0, 2] or column ∉ [0, 2]
  - setM00
```
public void setM00(double m00)
```
    Sets the value of the 1st row 1st column component.
    
    Parameters:
    
    m00 - the new value of the component.
  - setM01
```
public void setM01(double m01)
```
    Sets the value of the 1st row 2nd column component.
    
    Parameters:
    
    m01 - the new value of the component.
  - setM02
```
public void setM02(double m02)
```
    Sets the value of the 1st row 3rd column component.
    
    Parameters:
    
    m02 - the new value of the component.
  - setM10
```
public void setM10(double m10)
```
    Sets the value of the 2nd row 1st column component.
    
    Parameters:
    
    m10 - the new value of the component.
  - setM11
```
public void setM11(double m11)
```
    Sets the value of the 2nd row 2nd column component.
    
    Parameters:
    
    m11 - the new value of the component.
  - setM12
```
public void setM12(double m12)
```
    Sets the value of the 2nd row 3rd column component.
    
    Parameters:
    
    m12 - the new value of the component.
  - setM20
```
public void setM20(double m20)
```
    Sets the value of the 3rd row 1st column component.
    
    Parameters:
    
    m20 - the new value of the component.
  - setM21
```
public void setM21(double m21)
```
    Sets the value of the 3rd row 2nd column component.
    
    Parameters:
    
    m21 - the new value of the component.
  - setM22
```
public void setM22(double m22)
```
    Sets the value of the 3rd row 3rd column component.
    
    Parameters:
    
    m22 - the new value of the component.
  - scaleM00
```
public void scaleM00(double scalar)
```
    Scales the value of the 1st row 1st column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - scaleM01
```
public void scaleM01(double scalar)
```
    Scales the value of the 1st row 2nd column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - scaleM02
```
public void scaleM02(double scalar)
```
    Scales the value of the 1st row 3rd column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - scaleM10
```
public void scaleM10(double scalar)
```
    Scales the value of the 2nd row 1st column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - scaleM11
```
public void scaleM11(double scalar)
```
    Scales the value of the 2nd row 2nd column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - scaleM12
```
public void scaleM12(double scalar)
```
    Scales the value of the 2nd row 3rd column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - scaleM20
```
public void scaleM20(double scalar)
```
    Scales the value of the 3rd row 1st column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - scaleM21
```
public void scaleM21(double scalar)
```
    Scales the value of the 3rd row 2nd column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - scaleM22
```
public void scaleM22(double scalar)
```
    Scales the value of the 3rd row 3rd column component.
    
    Parameters:
    
    scalar - the scale factor to apply.
  - getM00
```
public double getM00()
```
    Gets the 1st row 1st column coefficient of this matrix.
    
    Specified by:
    
    getM00 in interface Matrix3DReadOnly
    
    Returns:
    
    the 1st row 1st column coefficient.
  - getM01
```
public double getM01()
```
    Gets the 1st row 2nd column coefficient of this matrix.
    
    Specified by:
    
    getM01 in interface Matrix3DReadOnly
    
    Returns:
    
    the 1st row 2nd column coefficient.
  - getM02
```
public double getM02()
```
    Gets the 1st row 3rd column coefficient of this matrix.
    
    Specified by:
    
    getM02 in interface Matrix3DReadOnly
    
    Returns:
    
    the 1st row 3rd column coefficient.
  - getM10
```
public double getM10()
```
    Gets the 2nd row 1st column coefficient of this matrix.
    
    Specified by:
    
    getM10 in interface Matrix3DReadOnly
    
    Returns:
    
    the 2nd row 1st column coefficient.
  - getM11
```
public double getM11()
```
    Gets the 2nd row 2nd column coefficient of this matrix.
    
    Specified by:
    
    getM11 in interface Matrix3DReadOnly
    
    Returns:
    
    the 2nd row 2nd column coefficient.
  - getM12
```
public double getM12()
```
    Gets the 2nd row 3rd column coefficient of this matrix.
    
    Specified by:
    
    getM12 in interface Matrix3DReadOnly
    
    Returns:
    
    the 2nd row 3rd column coefficient.
  - getM20
```
public double getM20()
```
    Gets the 3rd row 1st column coefficient of this matrix.
    
    Specified by:
    
    getM20 in interface Matrix3DReadOnly
    
    Returns:
    
    the 3rd row 1st column coefficient.
  - getM21
```
public double getM21()
```
    Gets the 3rd row 2nd column coefficient of this matrix.
    
    Specified by:
    
    getM21 in interface Matrix3DReadOnly
    
    Returns:
    
    the 3rd row 2nd column coefficient.
  - getM22
```
public double getM22()
```
    Gets the 3rd row 3rd column coefficient of this matrix.
    
    Specified by:
    
    getM22 in interface Matrix3DReadOnly
    
    Returns:
    
    the 3rd row 3rd column coefficient.
  - equals
```
public boolean equals(java.lang.Object object)
```
    Tests if the given object's class is the same as this, in which case the method returns Matrix3DReadOnly.equals(Matrix3DReadOnly), it returns false otherwise or if the object is null.
    
    Overrides:
    
    equals in class java.lang.Object
    
    Parameters:
    
    object - the object to compare against this. Not modified.
    
    Returns:
    
    true if object and this are exactly equal, false otherwise.
  - epsilonEquals
```
public boolean epsilonEquals(Matrix3D other,
                             double epsilon)
```
    Tests on a per coefficient basis if this matrix is equal to the given other to an epsilon.
    
    Specified by:
    
    epsilonEquals in interface EpsilonComparable<Matrix3D>
    
    Parameters:
    
    other - the other matrix to compare against this. Not modified.
    
    epsilon - the tolerance to use when comparing each component.
    
    Returns:
    
    true if the two matrices are equal, false otherwise.
  - geometricallyEquals
```
public boolean geometricallyEquals(Matrix3D other,
                                   double epsilon)
```
    Two 3D matrices are considered geometrically equal if they are epsilon equal.
    This method is equivalent to epsilonEquals(Matrix3D, double).
    
    Specified by:
    
    geometricallyEquals in interface GeometricallyComparable<Matrix3D>
    
    Parameters:
    
    other - the other matrix to compare against this. Not modified.
    
    epsilon - the tolerance to use when comparing each component.
    
    Returns:
    
    true if the two matrices are equal, false otherwise.
  - toString
```
public java.lang.String toString()
```
    Provides a String representation of this matrix as follows:
    m00, m01, m02
    m10, m11, m12
    m20, m21, m22
    
    Overrides:
    
    toString in class java.lang.Object
    
    Returns:
    
    the String representing this matrix.
  - hashCode
```
public int hashCode()
```
    Calculates and returns a hash code value from the value of each component of this matrix.
    
    Overrides:
    
    hashCode in class java.lang.Object
    
    Returns:
    
    the hash code value for this matrix.

Class Matrix3D

Constructor Summary

Method Summary

Methods inherited from interface us.ihmc.euclid.matrix.interfaces.Matrix3DBasics

Methods inherited from interface us.ihmc.euclid.matrix.interfaces.Matrix3DReadOnly

Methods inherited from class java.lang.Object

Constructor Detail

Matrix3D

Matrix3D

Matrix3D

Matrix3D

Method Detail

setToZero

transpose

set

set

setToTildeForm

setAndMultiplyOuter

setAndInvert

setAndNormalize

setAndTranspose

setAndNegate

setToYawMatrix

setToPitchMatrix

setToRollMatrix

add

add

sub

sub

fill

scale

scaleRows

scaleColumns

multiplyOuter

applyTransform

applyInverseTransform

invert

normalize

negate

multiply

multiplyTransposeThis

multiplyTransposeOther

multiplyTransposeBoth

multiplyInvertThis

multiplyInvertOther

multiplyInvertOther

multiplyInvertOther

preMultiply

preMultiplyTransposeThis

preMultiplyTransposeOther

preMultiplyTransposeBoth

preMultiplyInvertThis

preMultiplyInvertOther

preMultiplyInvertOther

preMultiplyInvertOther

transform

inverseTransform

inverseTransform

inverseTransform

inverseTransform

setRow

setRow

setRow

setColumn

setColumn

setColumn

scaleRow

scaleColumn

setElement

setM00

setM01

setM02

setM10

setM11

setM12

setM20

setM21

setM22

scaleM00

scaleM01