RotationScaleMatrix

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

All Implemented Interfaces:

Clearable, EpsilonComparable<RotationScaleMatrix>, GeometricallyComparable<RotationScaleMatrix>, Settable<RotationScaleMatrix>, Matrix3DBasics, Matrix3DReadOnly, RotationScaleMatrixReadOnly
```
public class RotationScaleMatrix
extends java.lang.Object
implements Matrix3DBasics, RotationScaleMatrixReadOnly, Settable<RotationScaleMatrix>, EpsilonComparable<RotationScaleMatrix>, GeometricallyComparable<RotationScaleMatrix>
```
A RotationScaleMatrix is a 3-by-3 matrix that represents a 3D orientation times a diagonal matrix holding on scale factors.
The application is mostly for 3D graphics where objects are scaled in their local coordinates and rotated.

A rotation-scale matrix M is equal to: M = R * S . Where R is a rotation matrix, and S is a scaling matrix as follows:
```
     / s_x 0 0 \
 S = | 0 s_y 0 |
     \ 0 0 s_z /
 
```
where s_x, s_y, and s_z three non-zero positive scale factors.

Note: To conserve the form M = R * S , the algebra with a rotation-scale matrix is rather restrictive. For instance, an rotation-scale matrix cannot be inverted. However, it can still perform the inverse of the transform it represents on geometry objects.

A best effort has been put in the interface of RotationScaleMatrix to maximize the use of the inherent properties of its composition and to minimize manipulation errors resulting in an improper rotation-scale matrix.
Author:

Sylvain Bertrand

Constructor Summary

Constructors
Constructor	Description
`RotationScaleMatrix()`	Create a new rotation-scale matrix initialized to identity.
`RotationScaleMatrix(double[] rotationScaleMatrixArray)`	Creates a new rotation-scale matrix and initializes it from the given array.
`RotationScaleMatrix(org.ejml.data.DenseMatrix64F rotationScaleMatrix)`	Creates a new rotation-scale matrix that is the same as `rotationScaleMatrix`.
`RotationScaleMatrix(org.ejml.data.DenseMatrix64F rotationMatrix, double scale)`	Creates a new rotation-scale matrix with the rotation part initialized to the `rotationMatrix` and all three scale factors initialized to `scale`.
`RotationScaleMatrix(org.ejml.data.DenseMatrix64F rotationMatrix, double scaleX, double scaleY, double scaleZ)`	Creates a new rotation-scale matrix with the rotation part initialized to the `rotationMatrix` and all three scale factors initialized to `scaleX`, `scaleY`, and `scaleZ`.
`RotationScaleMatrix(org.ejml.data.DenseMatrix64F rotationMatrix, Tuple3DReadOnly scales)`	Creates a new rotation-scale matrix with the rotation part initialized to the `rotationMatrix` and all three scale factors initialized to `scales`.
`RotationScaleMatrix(Matrix3DReadOnly rotationScaleMatrix)`	Creates a new rotation-scale matrix that is the same as `rotationScaleMatrix`.
`RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix, double scale)`	Creates a new rotation-scale matrix with the rotation part initialized to the `rotationMatrix` and all three scale factors initialized to `scale`.
`RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix, double scaleX, double scaleY, double scaleZ)`	Creates a new rotation-scale matrix with the rotation part initialized to the `rotationMatrix` and all three scale factors initialized to `scaleX`, `scaleY`, and `scaleZ`.
`RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix, Tuple3DReadOnly scales)`	Creates a new rotation-scale matrix with the rotation part initialized to the `rotationMatrix` and all three scale factors initialized to `scales`.
`RotationScaleMatrix(RotationScaleMatrix other)`	Creates a new rotation-scale matrix that is the same as `other`.
`RotationScaleMatrix(Orientation3DReadOnly orientation, double scale)`	Creates a new rotation-scale matrix with the rotation part initialized to the `orientation` and all three scale factors initialized to `scale`.
`RotationScaleMatrix(Orientation3DReadOnly orientation, double scaleX, double scaleY, double scaleZ)`	Creates a new rotation-scale matrix with the rotation part initialized to the `orientation` and all three scale factors initialized to `scaleX`, `scaleY`, and `scaleZ`.
`RotationScaleMatrix(Orientation3DReadOnly orientation, Tuple3DReadOnly scales)`	Creates a new rotation-scale matrix with the rotation part initialized to the `orientation` and all three scale factors initialized to `scales`.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`append(Orientation3DReadOnly orientation)`	Appends the given orientation to the rotation part of `this`.
`void`	`appendInvertOther(Orientation3DReadOnly orientation)`	Appends the inverse of the given orientation to the rotation part of `this`.
`void`	`appendInvertThis(Orientation3DReadOnly orientation)`	Inverts the rotation part of `this` and appends the given orientation.
`void`	`appendPitchRotation(double pitch)`	Appends a rotation about the y-axis to the rotation part of this rotation-scale matrix.
`void`	`appendRollRotation(double roll)`	Appends a rotation about the x-axis to the rotation part of this rotation-scale matrix.
`void`	`appendYawRotation(double yaw)`	Appends a rotation about the z-axis to the rotation part of this rotation-scale matrix.
`void`	`checkIfRotationMatrixProper()`	Asserts that the rotation part of this rotation-scale matrix is proper.
`void`	`checkIfRotationScaleMatrixProper()`	Asserts that this rotation-scale matrix is proper.
`void`	`checkIfScalesProper()`	Asserts that the scale part of this rotation-scale matrix is proper.
`boolean`	`containsNaN()`	Tests if at least one element of this matrix is equal to Double.NaN.
`boolean`	`epsilonEquals(RotationScaleMatrix other, double epsilon)`	Tests the rotation parts and scales of both matrices are equal 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 `equals(RotationScaleMatrix)`, it returns `false` otherwise or if the `object` is `null`.
`boolean`	`equals(RotationScaleMatrix other)`	Tests if the rotation parts and scales of both matrices are exactly equal.
`boolean`	`geometricallyEquals(RotationScaleMatrix other, double epsilon)`	Tests if `this` and `other` represent the same rotation-scale to an `epsilon`.
`RotationMatrix`	`getRotationMatrix()`	Returns the reference to the rotation matrix used to compose this rotation-scale matrix.
`Vector3DReadOnly`	`getScale()`	Returns the read-only reference to the scale factors used to compose this rotation-scale matrix.
`int`	`hashCode()`	Calculates and returns a hash code value from the value of each component of this matrix.
`void`	`normalizeRotationMatrix()`	Orthonormalization of the rotation part of this rotation-scale matrix using the Gram-Schmidt method.
`void`	`prepend(Orientation3DReadOnly orientation)`	Prepends the given orientation to the rotation part of `this`.
`void`	`prependInvertOther(Orientation3DReadOnly orientation)`	Prepends the inverse of the given orientation to the rotation part of `this`.
`void`	`prependInvertThis(Orientation3DReadOnly orientation)`	Inverts the rotation part of `this` and prepends the given orientation.
`void`	`prependPitchRotation(double pitch)`	Prepend a rotation about the y-axis to the rotation part of this rotation-scale matrix.
`void`	`prependRollRotation(double roll)`	Prepend a rotation about the x-axis to the rotation part of this rotation-scale matrix.
`void`	`prependYawRotation(double yaw)`	Prepend a rotation about the z-axis to the rotation part of this rotation-scale matrix.
`void`	`resetScale()`	Resets all the scale factors to 1.0.
`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(org.ejml.data.DenseMatrix64F rotationMatrix, double scale)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scale`.
`void`	`set(org.ejml.data.DenseMatrix64F rotationMatrix, double scaleX, double scaleY, double scaleZ)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scaleX`, `scaleY`, and `scaleZ`.
`void`	`set(org.ejml.data.DenseMatrix64F rotationMatrix, Tuple3DReadOnly scales)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scales`.
`void`	`set(Matrix3DReadOnly rotationMatrix, double scale)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scale`.
`void`	`set(Matrix3DReadOnly rotationMatrix, double scaleX, double scaleY, double scaleZ)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scaleX`, `scaleY`, and `scaleZ`.
`void`	`set(Matrix3DReadOnly rotationMatrix, Tuple3DReadOnly scales)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scales`.
`void`	`set(RotationMatrixReadOnly rotationMatrix)`	Sets the rotation part to the given rotation matrix and resets the scales.
`void`	`set(RotationMatrixReadOnly rotationMatrix, double scale)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scale`.
`void`	`set(RotationMatrixReadOnly rotationMatrix, double scaleX, double scaleY, double scaleZ)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scaleX`, `scaleY`, and `scaleZ`.
`void`	`set(RotationMatrixReadOnly rotationMatrix, Tuple3DReadOnly scales)`	Sets the rotation part to the `rotationMatrix` and all three scale factors to `scales`.
`void`	`set(RotationScaleMatrixReadOnly other)`	Sets this rotation-scale matrix to equal the given one `other`.
`void`	`set(RotationScaleMatrix other)`	Sets this rotation-scale matrix to equal the given one `other`.
`void`	`set(Orientation3DReadOnly orientation, double scale)`	Sets the rotation part to the `orientation` and all three scale factors to `scale`.
`void`	`set(Orientation3DReadOnly orientation, double scaleX, double scaleY, double scaleZ)`	Sets the rotation part to the `orientation` and all three scale factors to `scaleX`, `scaleY`, and `scaleZ`.
`void`	`set(Orientation3DReadOnly orientation, Tuple3DReadOnly scales)`	Sets the rotation part to the `orientation` and all three scale factors to `scales`.
`void`	`setEuler(double rotX, double rotY, double rotZ)`	Resets the scale factors and sets the rotation part to represent the same orientation as the given Euler angles `rotX`, `rotY`, and `rotZ`.
`void`	`setEuler(Vector3DReadOnly eulerAngles)`	Resets the scale factors and sets the rotation part to represent the same orientation as the given Euler angles `eulerAngles`.
`void`	`setIdentity()`	Sets this matrix to identity:
`void`	`setRotation(double[] rotationMatrixArray)`	Sets the rotation part to `rotationMatrixArray`.
`void`	`setRotation(org.ejml.data.DenseMatrix64F rotationMatrix)`	Sets the rotation part to `rotationMatrix`.
`void`	`setRotation(Matrix3DReadOnly rotationMatrix)`	Sets the rotation part to `rotationMatrix`.
`void`	`setRotation(RotationMatrixReadOnly rotationMatrix)`	Sets the rotation part to `rotationMatrix`.
`void`	`setRotation(Orientation3DReadOnly orientation)`	Sets the rotation part to `orientation`.
`void`	`setRotation(Vector3DReadOnly rotationVector)`	Sets the rotation part to the rotation vector `rotationVector`.
`void`	`setRotationEuler(double rotX, double rotY, double rotZ)`	Sets the rotation part to represent the same orientation as the given Euler angles `rotX`, `rotY`, and `rotZ`.
`void`	`setRotationEuler(Vector3DReadOnly eulerAngles)`	Sets the rotation part to represent the same orientation as the given Euler angles `eulerAngles`.
`void`	`setRotationPitch(double pitch)`	Sets the rotation part to represent a counter clockwise rotation around the y-axis of an angle `pitch`.
`void`	`setRotationRoll(double roll)`	Sets the rotation part to represent a counter clockwise rotation around the x-axis of an angle `roll`.
`void`	`setRotationToZero()`	Sets the rotation part to represent a 'zero' rotation.
`void`	`setRotationYaw(double yaw)`	Sets the rotation part to represent a counter clockwise rotation around the z-axis of an angle `yaw`.
`void`	`setRotationYawPitchRoll(double[] yawPitchRoll)`	Sets the rotation part to represent the same orientation as the given yaw-pitch-roll angles `yawPitchRoll`.
`void`	`setRotationYawPitchRoll(double yaw, double pitch, double roll)`	Sets the rotation part to represent the same orientation as the given yaw-pitch-roll angles `yaw`, `pitch`, and `roll`.
`void`	`setScale(double scale)`	Sets all the scale factors to `scale`.
`void`	`setScale(double scaleX, double scaleY, double scaleZ)`	Sets all the scale factors to `scale`.
`void`	`setScale(Tuple3DReadOnly scales)`	Sets the scale factors to `scales`.
`void`	`setToNaN()`	Sets this matrix to contain only Double.NaN:
`void`	`setToPitchMatrix(double pitch)`	Resets the scale factors and sets the rotation part to represent a counter clockwise rotation around the y-axis of an angle `pitch`.
`void`	`setToRollMatrix(double roll)`	Resets the scale factors and sets the rotation part to represent a counter clockwise rotation around the x-axis of an angle `roll`.
`void`	`setToYawMatrix(double yaw)`	Resets the scale factors and sets the rotation part to represent a counter clockwise rotation around the z-axis of an angle `yaw`.
`void`	`setToZero()`	Sets this rotation-scale matrix to identity representing a 'zero' rotation without scale.
`void`	`setYawPitchRoll(double[] yawPitchRoll)`	Resets the scale factors and sets the rotation part to represent the same orientation as the given yaw-pitch-roll angles `yawPitchRoll`.
`void`	`setYawPitchRoll(double yaw, double pitch, double roll)`	Resets the scale factors and sets the rotation part to represent the same orientation as the given yaw-pitch-roll angles `yaw`, `pitch`, and `roll`.
`java.lang.String`	`toString()`	Provides a `String` representation of this matrix as follows: m00, m01, m02 m10, m11, m12 m20, m21, m22

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

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

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

Methods inherited from interface us.ihmc.euclid.matrix.interfaces.RotationScaleMatrixReadOnly
addTransform, epsilonEquals, geometricallyEquals, getM00, getM01, getM02, getM10, getM11, getM12, getM20, getM21, getM22, getMaxScale, getRotation, getRotation, getRotation, getRotation, getRotationEuler, getRotationPitch, getRotationRoll, getRotationYaw, getRotationYawPitchRoll, getScale, getScaleX, getScaleY, getScaleZ, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, transform, transform, transform, transform, transform, transform, transform, transform

- Constructor Detail
  - RotationScaleMatrix
```
public RotationScaleMatrix()
```
    Create a new rotation-scale matrix initialized to identity.
  - RotationScaleMatrix
```
public RotationScaleMatrix(RotationScaleMatrix other)
```
    Creates a new rotation-scale matrix that is the same as other.
    
    Parameters:
    
    other - the other 3D matrix to copy the values from. Not modified.
  - RotationScaleMatrix
```
public RotationScaleMatrix(Matrix3DReadOnly rotationScaleMatrix)
```
    Creates a new rotation-scale matrix that is the same as rotationScaleMatrix.
    
    Parameters:
    
    rotationScaleMatrix - the other 3D matrix to copy the values from. Not modified.
    
    Throws:
    
    NotARotationScaleMatrixException - if the resulting matrix is not a rotation-scale matrix.
  - RotationScaleMatrix
```
public RotationScaleMatrix(org.ejml.data.DenseMatrix64F rotationScaleMatrix)
```
    Creates a new rotation-scale matrix that is the same as rotationScaleMatrix.
    
    Parameters:
    
    rotationScaleMatrix - the other 3D matrix to copy the values from. Not modified.
    
    Throws:
    
    NotARotationScaleMatrixException - if the resulting matrix is not a rotation-scale matrix.
  - RotationScaleMatrix
```
public RotationScaleMatrix(double[] rotationScaleMatrixArray)
```
    Creates a new rotation-scale matrix and initializes it from the given array.
```
        / rotationScaleMatrixArray[0]  rotationScaleMatrixArray[1]  rotationScaleMatrixArray[2] \
 this = | rotationScaleMatrixArray[3]  rotationScaleMatrixArray[4]  rotationScaleMatrixArray[5] |
        \ rotationScaleMatrixArray[6]  rotationScaleMatrixArray[7]  rotationScaleMatrixArray[8] /
 
```
    Parameters:
    
    rotationScaleMatrixArray - the array containing the values for this matrix. Not modified.
    
    Throws:
    
    NotARotationScaleMatrixException - if the resulting matrix is not a rotation-scale matrix.
  - RotationScaleMatrix
```
public RotationScaleMatrix(org.ejml.data.DenseMatrix64F rotationMatrix,
                           double scale)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scale.
    
    Parameters:
    
    rotationMatrix - the 3-by-3 matrix used to initialize the rotation part. Not modified.
    
    scale - non-zero and positive scalar used to initialize the scale factors.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if scale <= 0.0.
  - RotationScaleMatrix
```
public RotationScaleMatrix(org.ejml.data.DenseMatrix64F rotationMatrix,
                           double scaleX,
                           double scaleY,
                           double scaleZ)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scaleX, scaleY, and scaleZ.
    
    Parameters:
    
    rotationMatrix - the 3-by-3 matrix used to initialize the rotation part. Not modified.
    
    scaleX - the non-zero and positive scalar used to initialize the x-axis scale factor.
    
    scaleY - the non-zero and positive scalar used to initialize the y-axis scale factor.
    
    scaleZ - the non-zero and positive scalar used to initialize the z-axis scale factor.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - RotationScaleMatrix
```
public RotationScaleMatrix(org.ejml.data.DenseMatrix64F rotationMatrix,
                           Tuple3DReadOnly scales)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scales.
    
    Parameters:
    
    rotationMatrix - the 3-by-3 matrix used to initialize the rotation part. Not modified.
    
    scales - tuple holding on the non-zero and positive scalars used to initialize the scale factors. Not modified.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - RotationScaleMatrix
```
public RotationScaleMatrix(Orientation3DReadOnly orientation,
                           double scale)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the orientation and all three scale factors initialized to scale.
    
    Parameters:
    
    orientation - the orientation used to initialize the rotation part. Not modified.
    
    scale - non-zero and positive scalar used to initialize the scale factors.
    
    Throws:
    
    NotARotationScaleMatrixException - if scale <= 0.0.
  - RotationScaleMatrix
```
public RotationScaleMatrix(Orientation3DReadOnly orientation,
                           double scaleX,
                           double scaleY,
                           double scaleZ)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the orientation and all three scale factors initialized to scaleX, scaleY, and scaleZ.
    
    Parameters:
    
    orientation - the orientation used to initialize the rotation part. Not modified.
    
    scaleX - the non-zero and positive scalar used to initialize the x-axis scale factor.
    
    scaleY - the non-zero and positive scalar used to initialize the y-axis scale factor.
    
    scaleZ - the non-zero and positive scalar used to initialize the z-axis scale factor.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - RotationScaleMatrix
```
public RotationScaleMatrix(Orientation3DReadOnly orientation,
                           Tuple3DReadOnly scales)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the orientation and all three scale factors initialized to scales.
    
    Parameters:
    
    orientation - the orientation used to initialize the rotation part. Not modified.
    
    scales - tuple holding on the non-zero and positive scalars used to initialize the scale factors. Not modified.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - RotationScaleMatrix
```
public RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix,
                           double scale)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scale.
    
    Parameters:
    
    rotationMatrix - the rotation matrix used to initialize the rotation part. Not modified.
    
    scale - non-zero and positive scalar used to initialize the scale factors.
    
    Throws:
    
    NotARotationScaleMatrixException - if scale <= 0.0.
  - RotationScaleMatrix
```
public RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix,
                           double scaleX,
                           double scaleY,
                           double scaleZ)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scaleX, scaleY, and scaleZ.
    
    Parameters:
    
    rotationMatrix - the rotation matrix used to initialize the rotation part. Not modified.
    
    scaleX - the non-zero and positive scalar used to initialize the x-axis scale factor.
    
    scaleY - the non-zero and positive scalar used to initialize the y-axis scale factor.
    
    scaleZ - the non-zero and positive scalar used to initialize the z-axis scale factor.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - RotationScaleMatrix
```
public RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix,
                           Tuple3DReadOnly scales)
```
    Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scales.
    
    Parameters:
    
    rotationMatrix - the rotation matrix used to initialize the rotation part. Not modified.
    
    scales - tuple holding on the non-zero and positive scalars used to initialize the scale factors. Not modified.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
- Method Detail
  - checkIfRotationScaleMatrixProper
```
public void checkIfRotationScaleMatrixProper()
```
    Asserts that this rotation-scale matrix is proper.
    
    Throws:
    
    NotARotationScaleMatrixException - if the rotation part is not a rotation matrix.
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - checkIfRotationMatrixProper
```
public void checkIfRotationMatrixProper()
```
    Asserts that the rotation part of this rotation-scale matrix is proper.
    
    Throws:
    
    NotARotationScaleMatrixException - if the rotation part is not a rotation matrix.
  - checkIfScalesProper
```
public void checkIfScalesProper()
```
    Asserts that the scale part of this rotation-scale matrix is proper.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - normalizeRotationMatrix
```
public void normalizeRotationMatrix()
```
    Orthonormalization of the rotation part of this rotation-scale matrix using the Gram-Schmidt method.
    
    Throws:
    
    NotARotationMatrixException - if the orthonormalization failed.
  - resetScale
```
public void resetScale()
```
    Resets all the scale factors to 1.0.
  - setToZero
```
public void setToZero()
```
    Sets this rotation-scale matrix to identity representing a 'zero' rotation without scale.
    
    Specified by:
    
    setToZero in interface Clearable
  - setToNaN
```
public void setToNaN()
```
    Sets this matrix to contain only Double.NaN:
```
     / NaN  NaN  NaN \
 m = | NaN  NaN  NaN |
     \ NaN  NaN  NaN /
 
```
    Specified by:
    
    setToNaN in interface Clearable
    
    Specified by:
    
    setToNaN in interface Matrix3DBasics
  - setIdentity
```
public void setIdentity()
```
    Description copied from interface: Matrix3DBasics
    Sets this matrix to identity:
```
     / 1  0  0 \
 m = | 0  1  0 |
     \ 0  0  1 /
 
```
    Specified by:
    
    setIdentity in interface Matrix3DBasics
  - setRotationToZero
```
public void setRotationToZero()
```
    Sets the rotation part to represent a 'zero' rotation.
  - containsNaN
```
public boolean containsNaN()
```
    Tests if at least one element of this matrix is equal to Double.NaN.
    
    Specified by:
    
    containsNaN in interface Clearable
    
    Specified by:
    
    containsNaN in interface Matrix3DBasics
    
    Specified by:
    
    containsNaN in interface Matrix3DReadOnly
    
    Returns:
    
    true if at least one element of this matrix is equal to Double.NaN, false otherwise.
  - set
```
public void set(RotationScaleMatrix other)
```
    Sets this rotation-scale matrix to equal the given one other.
    
    Specified by:
    
    set in interface Settable<RotationScaleMatrix>
    
    Parameters:
    
    other - the other rotation-scale matrix to copy the values from. Not modified.
  - set
```
public void set(RotationScaleMatrixReadOnly other)
```
    Sets this rotation-scale matrix to equal the given one other.
    
    Parameters:
    
    other - the other rotation-scale matrix to copy the values from. Not modified.
  - set
```
public void set(RotationMatrixReadOnly rotationMatrix)
```
    Sets the rotation part to the given rotation matrix and resets the scales.
    
    Parameters:
    
    rotationMatrix - the other rotation matrix to copy the values from. Not modified.
  - 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.
    
    Throws:
    
    NotARotationScaleMatrixException - if the resulting matrix is not a rotation-scale matrix.
  - set
```
public void set(org.ejml.data.DenseMatrix64F rotationMatrix,
                double scale)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scale.
    
    Parameters:
    
    rotationMatrix - the 3-by-3 matrix used to set the rotation part to. Not modified.
    
    scale - non-zero and positive scalar used to initialize the scale factors.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if scale <= 0.0.
  - set
```
public void set(org.ejml.data.DenseMatrix64F rotationMatrix,
                double scaleX,
                double scaleY,
                double scaleZ)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scaleX, scaleY, and scaleZ.
    
    Parameters:
    
    rotationMatrix - the 3-by-3 matrix used to set the rotation part to. Not modified.
    
    scaleX - the non-zero and positive scalar used to set the x-axis scale factor to.
    
    scaleY - the non-zero and positive scalar used to set the y-axis scale factor to.
    
    scaleZ - the non-zero and positive scalar used to set the z-axis scale factor to.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - set
```
public void set(org.ejml.data.DenseMatrix64F rotationMatrix,
                Tuple3DReadOnly scales)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scales.
    
    Parameters:
    
    rotationMatrix - the 3-by-3 matrix used to set the rotation part to. Not modified.
    
    scales - tuple holding on the non-zero and positive scalars used to set the scale factors to. Not modified.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - set
```
public void set(Orientation3DReadOnly orientation,
                double scale)
```
    Sets the rotation part to the orientation and all three scale factors to scale.
    
    Parameters:
    
    orientation - the orientation used to set the rotation part to. Not modified.
    
    scale - the non-zero and positive scalar used to set the scale factors to.
    
    Throws:
    
    NotARotationScaleMatrixException - if scale <= 0.0.
  - set
```
public void set(Orientation3DReadOnly orientation,
                double scaleX,
                double scaleY,
                double scaleZ)
```
    Sets the rotation part to the orientation and all three scale factors to scaleX, scaleY, and scaleZ.
    
    Parameters:
    
    orientation - the orientation used to set the rotation part to. Not modified.
    
    scaleX - the non-zero and positive scalar used to set the x-axis scale factor to.
    
    scaleY - the non-zero and positive scalar used to set the y-axis scale factor to.
    
    scaleZ - the non-zero and positive scalar used to set the z-axis scale factor to.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - set
```
public void set(Orientation3DReadOnly orientation,
                Tuple3DReadOnly scales)
```
    Sets the rotation part to the orientation and all three scale factors to scales.
    
    Parameters:
    
    orientation - the orientation used to set the rotation part to. Not modified.
    
    scales - tuple holding on the non-zero and positive scalars used to set the scale factors to. Not modified.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - set
```
public void set(Matrix3DReadOnly rotationMatrix,
                double scale)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scale.
    
    Parameters:
    
    rotationMatrix - the matrix used to set the rotation part to. Not modified.
    
    scale - the non-zero and positive scalar used to set the scale factors to.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if scale <= 0.0.
  - set
```
public void set(Matrix3DReadOnly rotationMatrix,
                double scaleX,
                double scaleY,
                double scaleZ)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scaleX, scaleY, and scaleZ.
    
    Parameters:
    
    rotationMatrix - the rotation matrix used to set the rotation part to. Not modified.
    
    scaleX - the non-zero and positive scalar used to set the x-axis scale factor to.
    
    scaleY - the non-zero and positive scalar used to set the y-axis scale factor to.
    
    scaleZ - the non-zero and positive scalar used to set the z-axis scale factor to.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - set
```
public void set(Matrix3DReadOnly rotationMatrix,
                Tuple3DReadOnly scales)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scales.
    
    Parameters:
    
    rotationMatrix - the rotation matrix used to set the rotation part to. Not modified.
    
    scales - tuple holding on the non-zero and positive scalars used to set the scale factors to. Not modified.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - set
```
public void set(RotationMatrixReadOnly rotationMatrix,
                double scale)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scale.
    
    Parameters:
    
    rotationMatrix - the matrix used to set the rotation part to. Not modified.
    
    scale - the non-zero and positive scalar used to set the scale factors to.
    
    Throws:
    
    NotARotationScaleMatrixException - if scale <= 0.0.
  - set
```
public void set(RotationMatrixReadOnly rotationMatrix,
                double scaleX,
                double scaleY,
                double scaleZ)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scaleX, scaleY, and scaleZ.
    
    Parameters:
    
    rotationMatrix - the rotation matrix used to set the rotation part to. Not modified.
    
    scaleX - the non-zero and positive scalar used to set the x-axis scale factor to.
    
    scaleY - the non-zero and positive scalar used to set the y-axis scale factor to.
    
    scaleZ - the non-zero and positive scalar used to set the z-axis scale factor to.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - set
```
public void set(RotationMatrixReadOnly rotationMatrix,
                Tuple3DReadOnly scales)
```
    Sets the rotation part to the rotationMatrix and all three scale factors to scales.
    
    Parameters:
    
    rotationMatrix - the rotation matrix used to set the rotation part to. Not modified.
    
    scales - tuple holding on the non-zero and positive scalars used to set the scale factors to. Not modified.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - setRotation
```
public void setRotation(org.ejml.data.DenseMatrix64F rotationMatrix)
```
    Sets the rotation part to rotationMatrix.
    
    Parameters:
    
    rotationMatrix - the matrix used to set the rotation part to. Not modified.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
  - setRotation
```
public void setRotation(double[] rotationMatrixArray)
```
    Sets the rotation part to rotationMatrixArray.
    
    Parameters:
    
    rotationMatrixArray - the array containing the rotation part values. Not modified.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrixArray is not a rotation matrix.
  - setRotation
```
public void setRotation(Orientation3DReadOnly orientation)
```
    Sets the rotation part to orientation.
    
    Parameters:
    
    orientation - the orientation used to set the rotation part to. Not modified.
  - setRotation
```
public void setRotation(Matrix3DReadOnly rotationMatrix)
```
    Sets the rotation part to rotationMatrix.
    
    Parameters:
    
    rotationMatrix - the matrix used to set the rotation part to. Not modified.
    
    Throws:
    
    NotARotationMatrixException - if the given rotationMatrix is not a rotation matrix.
  - setRotation
```
public void setRotation(RotationMatrixReadOnly rotationMatrix)
```
    Sets the rotation part to rotationMatrix.
    
    Parameters:
    
    rotationMatrix - the matrix used to set the rotation part to. Not modified.
  - setRotation
```
public void setRotation(Vector3DReadOnly rotationVector)
```
    Sets the rotation part to the rotation vector rotationVector.
    WARNING: a rotation vector is different from a yaw-pitch-roll or Euler angles representation. A rotation vector is equivalent to the axis of an axis-angle that is multiplied by the angle of the same axis-angle.
    
    Parameters:
    
    rotationVector - the rotation vector used to set the rotation part to. Not modified.
  - setRotationYaw
```
public void setRotationYaw(double yaw)
```
    Sets the rotation part to represent a counter clockwise rotation around the z-axis of an angle yaw.
```
     / cos(yaw) -sin(yaw) 0 \
 R = | sin(yaw)  cos(yaw) 0 |
     \    0         0     1 /
 
```
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
  - setRotationPitch
```
public void setRotationPitch(double pitch)
```
    Sets the rotation part 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.
  - setRotationRoll
```
public void setRotationRoll(double roll)
```
    Sets the rotation part 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.
  - setRotationYawPitchRoll
```
public void setRotationYawPitchRoll(double[] yawPitchRoll)
```
    Sets the rotation part to represent the same orientation as the given yaw-pitch-roll angles yawPitchRoll.
```
     / cos(yaw) -sin(yaw) 0 \   /  cos(pitch) 0 sin(pitch) \   / 1     0          0     \
 R = | sin(yaw)  cos(yaw) 0 | * |      0      1     0      | * | 0 cos(roll) -sin(roll) |
     \    0         0     1 /   \ -sin(pitch) 0 cos(pitch) /   \ 0 sin(roll)  cos(roll) /
 
```
    Parameters:
    
    yawPitchRoll - the yaw-pitch-roll Euler angles to copy the orientation from. Not modified.
  - setRotationYawPitchRoll
```
public void setRotationYawPitchRoll(double yaw,
                                    double pitch,
                                    double roll)
```
    Sets the rotation part to represent the same orientation as the given yaw-pitch-roll angles yaw, pitch, and roll.
```
     / cos(yaw) -sin(yaw) 0 \   /  cos(pitch) 0 sin(pitch) \   / 1     0          0     \
 R = | sin(yaw)  cos(yaw) 0 | * |      0      1     0      | * | 0 cos(roll) -sin(roll) |
     \    0         0     1 /   \ -sin(pitch) 0 cos(pitch) /   \ 0 sin(roll)  cos(roll) /
 
```
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
    
    pitch - the angle to rotate about the y-axis.
    
    roll - the angle to rotate about the x-axis.
  - setRotationEuler
```
public void setRotationEuler(Vector3DReadOnly eulerAngles)
```
    Sets the rotation part to represent the same orientation as the given Euler angles eulerAngles.
```
     / cos(eulerAngles.z) -sin(eulerAngles.z) 0 \   /  cos(eulerAngles.y) 0 sin(eulerAngles.y) \   / 1         0                   0          \
 R = | sin(eulerAngles.z)  cos(eulerAngles.z) 0 | * |          0          1         0          | * | 0 cos(eulerAngles.x) -sin(eulerAngles.x) |
     \         0                   0          1 /   \ -sin(eulerAngles.y) 0 cos(eulerAngles.y) /   \ 0 sin(eulerAngles.x)  cos(eulerAngles.x) /
 
```
    This is equivalent to this.setRotationYawPitchRoll(eulerAngles.getZ(), eulerAngles.getY(), eulerAngles.getX()).
    Parameters:
    
    eulerAngles - the Euler angles to copy the orientation from. Not modified.
  - setRotationEuler
```
public void setRotationEuler(double rotX,
                             double rotY,
                             double rotZ)
```
    Sets the rotation part to represent the same orientation as the given Euler angles rotX, rotY, and rotZ.
```
        / cos(rotZ) -sin(rotZ) 0 \   /  cos(rotY) 0 sin(rotY) \   / 1     0          0     \
 this = | sin(rotZ)  cos(rotZ) 0 | * |      0     1     0     | * | 0 cos(rotX) -sin(rotX) |
        \     0          0     1 /   \ -sin(rotY) 0 cos(rotY) /   \ 0 sin(rotX)  cos(rotX) /
 
```
    This is equivalent to this.setRotationYawPitchRoll(rotZ, rotY, rotX).
    Parameters:
    
    rotX - the angle to rotate about the x-axis.
    
    rotY - the angle to rotate about the y-axis.
    
    rotZ - the angle to rotate about the z-axis.
  - setScale
```
public void setScale(double scale)
```
    Sets all the scale factors to scale.
    
    Parameters:
    
    scale - the non-zero and positive scalar used to set the scale factors to.
    
    Throws:
    
    NotARotationScaleMatrixException - if scale <= 0.0.
  - setScale
```
public void setScale(double scaleX,
                     double scaleY,
                     double scaleZ)
```
    Sets all the scale factors to scale.
    
    Parameters:
    
    scaleX - the non-zero and positive scalar used to set the x-axis scale factor to.
    
    scaleY - the non-zero and positive scalar used to set the y-axis scale factor to.
    
    scaleZ - the non-zero and positive scalar used to set the z-axis scale factor to.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - setScale
```
public void setScale(Tuple3DReadOnly scales)
```
    Sets the scale factors to scales.
    
    Parameters:
    
    scales - tuple holding on the non-zero and positive scalars used to set the scale factors to. Not modified.
    
    Throws:
    
    NotARotationScaleMatrixException - if any of the scale factors is less or equal to zero.
  - setToYawMatrix
```
public void setToYawMatrix(double yaw)
```
    Resets the scale factors and sets the rotation part 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)
```
    Resets the scale factors and sets the rotation part 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)
```
    Resets the scale factors and sets the rotation part 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.
  - setYawPitchRoll
```
public void setYawPitchRoll(double[] yawPitchRoll)
```
    Resets the scale factors and sets the rotation part to represent the same orientation as the given yaw-pitch-roll angles yawPitchRoll.
```
        / cos(yaw) -sin(yaw) 0 \   /  cos(pitch) 0 sin(pitch) \   / 1     0          0     \
 this = | sin(yaw)  cos(yaw) 0 | * |      0      1     0      | * | 0 cos(roll) -sin(roll) |
        \    0         0     1 /   \ -sin(pitch) 0 cos(pitch) /   \ 0 sin(roll)  cos(roll) /
 
```
    Parameters:
    
    yawPitchRoll - the yaw-pitch-roll Euler angles to copy the orientation from. Not modified.
  - setYawPitchRoll
```
public void setYawPitchRoll(double yaw,
                            double pitch,
                            double roll)
```
    Resets the scale factors and sets the rotation part to represent the same orientation as the given yaw-pitch-roll angles yaw, pitch, and roll.
```
        / cos(yaw) -sin(yaw) 0 \   /  cos(pitch) 0 sin(pitch) \   / 1     0          0     \
 this = | sin(yaw)  cos(yaw) 0 | * |      0      1     0      | * | 0 cos(roll) -sin(roll) |
        \    0         0     1 /   \ -sin(pitch) 0 cos(pitch) /   \ 0 sin(roll)  cos(roll) /
 
```
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
    
    pitch - the angle to rotate about the y-axis.
    
    roll - the angle to rotate about the x-axis.
  - setEuler
```
public void setEuler(Vector3DReadOnly eulerAngles)
```
    Resets the scale factors and sets the rotation part to represent the same orientation as the given Euler angles eulerAngles.
```
        / cos(eulerAngles.z) -sin(eulerAngles.z) 0 \   /  cos(eulerAngles.y) 0 sin(eulerAngles.y) \   / 1         0                   0          \
 this = | sin(eulerAngles.z)  cos(eulerAngles.z) 0 | * |          0          1         0          | * | 0 cos(eulerAngles.x) -sin(eulerAngles.x) |
        \         0                   0          1 /   \ -sin(eulerAngles.y) 0 cos(eulerAngles.y) /   \ 0 sin(eulerAngles.x)  cos(eulerAngles.x) /
 
```
    This is equivalent to this.setYawPitchRoll(eulerAngles.getZ(), eulerAngles.getY(), eulerAngles.getX()).
    Parameters:
    
    eulerAngles - the Euler angles to copy the orientation from. Not modified.
  - setEuler
```
public void setEuler(double rotX,
                     double rotY,
                     double rotZ)
```
    Resets the scale factors and sets the rotation part to represent the same orientation as the given Euler angles rotX, rotY, and rotZ.
```
        / cos(rotZ) -sin(rotZ) 0 \   /  cos(rotY) 0 sin(rotY) \   / 1     0          0     \
 this = | sin(rotZ)  cos(rotZ) 0 | * |      0     1     0     | * | 0 cos(rotX) -sin(rotX) |
        \     0          0     1 /   \ -sin(rotY) 0 cos(rotY) /   \ 0 sin(rotX)  cos(rotX) /
 
```
    This is equivalent to this.setYawPitchRoll(rotZ, rotY, rotX).
    Parameters:
    
    rotX - the angle to rotate about the x-axis.
    
    rotY - the angle to rotate about the y-axis.
    
    rotZ - the angle to rotate about the z-axis.
  - append
```
public void append(Orientation3DReadOnly orientation)
```
    Appends the given orientation to the rotation part of this.
    
    Parameters:
    
    orientation - the orientation to append to this. Not modified.
  - appendInvertThis
```
public void appendInvertThis(Orientation3DReadOnly orientation)
```
    Inverts the rotation part of this and appends the given orientation.
    
    Parameters:
    
    orientation - the orientation to append to this. Not modified.
  - appendInvertOther
```
public void appendInvertOther(Orientation3DReadOnly orientation)
```
    Appends the inverse of the given orientation to the rotation part of this.
    
    Parameters:
    
    orientation - the orientation to append to this. Not modified.
  - appendYawRotation
```
public void appendYawRotation(double yaw)
```
    Appends a rotation about the z-axis to the rotation part of this rotation-scale matrix.
```
         / cos(yaw) -sin(yaw) 0 \
 R = R * | sin(yaw)  cos(yaw) 0 |
         \    0         0     1 /
 
```
    This method does not affect the scale part of this rotation-scale matrix.
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
  - appendPitchRotation
```
public void appendPitchRotation(double pitch)
```
    Appends a rotation about the y-axis to the rotation part of this rotation-scale matrix.
```
         /  cos(pitch) 0 sin(pitch) \
 R = R * |      0      1     0      |
         \ -sin(pitch) 0 cos(pitch) /
 
```
    This method does not affect the scale part of this rotation-scale matrix.
    Parameters:
    
    pitch - the angle to rotate about the y-axis.
  - appendRollRotation
```
public void appendRollRotation(double roll)
```
    Appends a rotation about the x-axis to the rotation part of this rotation-scale matrix.
```
         / 1     0          0     \
 R = R * | 0 cos(roll) -sin(roll) |
         \ 0 sin(roll)  cos(roll) /
 
```
    This method does not affect the scale part of this rotation-scale matrix.
    Parameters:
    
    roll - the angle to rotate about the x-axis.
  - prepend
```
public void prepend(Orientation3DReadOnly orientation)
```
    Prepends the given orientation to the rotation part of this.
    
    Parameters:
    
    orientation - the orientation to prepend to this. Not modified.
  - prependInvertThis
```
public void prependInvertThis(Orientation3DReadOnly orientation)
```
    Inverts the rotation part of this and prepends the given orientation.
    
    Parameters:
    
    orientation - the orientation to prepend to this. Not modified.
  - prependInvertOther
```
public void prependInvertOther(Orientation3DReadOnly orientation)
```
    Prepends the inverse of the given orientation to the rotation part of this.
    
    Parameters:
    
    orientation - the orientation to prepend to this. Not modified.
  - prependYawRotation
```
public void prependYawRotation(double yaw)
```
    Prepend a rotation about the z-axis to the rotation part of this rotation-scale matrix.
```
     / cos(yaw) -sin(yaw) 0 \
 R = | sin(yaw)  cos(yaw) 0 | * R
     \    0         0     1 /
 
```
    This method does not affect the scale part of this rotation-scale matrix.
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
  - prependPitchRotation
```
public void prependPitchRotation(double pitch)
```
    Prepend a rotation about the y-axis to the rotation part of this rotation-scale matrix.
```
     /  cos(pitch) 0 sin(pitch) \
 R = |      0      1     0      | * R
     \ -sin(pitch) 0 cos(pitch) /
 
```
    This method does not affect the scale part of this rotation-scale matrix.
    Parameters:
    
    pitch - the angle to rotate about the y-axis.
  - prependRollRotation
```
public void prependRollRotation(double roll)
```
    Prepend a rotation about the x-axis to the rotation part of this rotation-scale matrix.
```
     / 1     0          0     \
 R = | 0 cos(roll) -sin(roll) | * R
     \ 0 sin(roll)  cos(roll) /
 
```
    This method does not affect the scale part of this rotation-scale matrix.
    Parameters:
    
    roll - the angle to rotate about the x-axis.
  - getRotationMatrix
```
public RotationMatrix getRotationMatrix()
```
    Returns the reference to the rotation matrix used to compose this rotation-scale matrix.
    
    Specified by:
    
    getRotationMatrix in interface RotationScaleMatrixReadOnly
    
    Returns:
    
    the reference to the rotation matrix.
  - getScale
```
public Vector3DReadOnly getScale()
```
    Returns the read-only reference to the scale factors used to compose this rotation-scale matrix.
    
    Specified by:
    
    getScale in interface RotationScaleMatrixReadOnly
    
    Returns:
    
    the read-only reference to the scale factors.
  - 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 equals(RotationScaleMatrix), 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.
  - equals
```
public boolean equals(RotationScaleMatrix other)
```
    Tests if the rotation parts and scales of both matrices are exactly equal.
    The method returns false if the given matrix is null.
    
    Parameters:
    
    other - the other matrix to compare against this. Not modified.
    
    Returns:
    
    true if the two matrices are exactly 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.
  - epsilonEquals
```
public boolean epsilonEquals(RotationScaleMatrix other,
                             double epsilon)
```
    Tests the rotation parts and scales of both matrices are equal to an epsilon.
    
    Specified by:
    
    epsilonEquals in interface EpsilonComparable<RotationScaleMatrix>
    
    Parameters:
    
    other - the other matrix to compare against this. Not modified.
    
    epsilon - tolerance to use when comparing each component.
    
    Returns:
    
    true if the two matrix are equal, false otherwise.
  - geometricallyEquals
```
public boolean geometricallyEquals(RotationScaleMatrix other,
                                   double epsilon)
```
    Tests if this and other represent the same rotation-scale to an epsilon.
    Two rotation-scale matrices are considered geometrically equal if the their respective rotation matrices and scale vectors are geometrically equal.
    
    Note that this.geometricallyEquals(other, epsilon) == true does not necessarily imply this.epsilonEquals(other, epsilon) and vice versa.
    
    Specified by:
    
    geometricallyEquals in interface GeometricallyComparable<RotationScaleMatrix>
    
    Parameters:
    
    other - the other rotation-scale matrix to compare against this. Not modified.
    
    epsilon - the threshold used when comparing the internal rotation and scale to other's rotation and scale.
    
    Returns:
    
    true if the two rotation-scale matrices represent the same geometry, false otherwise.

Class RotationScaleMatrix

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

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

Constructor Detail

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

RotationScaleMatrix

Method Detail

checkIfRotationScaleMatrixProper

checkIfRotationMatrixProper

checkIfScalesProper

normalizeRotationMatrix

resetScale

setToZero

setToNaN

setIdentity

setRotationToZero

containsNaN

set

set

set

set

set

set

set

set

set

set

set

set

set

set

set

set

setRotation

setRotation

setRotation

setRotation

setRotation

setRotation

setRotationYaw

setRotationPitch

setRotationRoll

setRotationYawPitchRoll

setRotationYawPitchRoll

setRotationEuler

setRotationEuler

setScale

setScale

setScale

setToYawMatrix

setToPitchMatrix

setToRollMatrix

setYawPitchRoll

setYawPitchRoll

setEuler

setEuler

append

appendInvertThis

appendInvertOther

appendYawRotation

appendPitchRotation

appendRollRotation

prepend

prependInvertThis