Package us.ihmc.euclid.matrix.interfaces

Interface Matrix3DReadOnly

All Known Subinterfaces:

Matrix3DBasics, RotationMatrixReadOnly, RotationScaleMatrixReadOnly

All Known Implementing Classes:

Matrix3D, RotationMatrix, RotationScaleMatrix

public interface Matrix3DReadOnly

Read-only interface for any type of 3-by-3 matrices.

Author:

Sylvain Bertrand

Method Summary

Modifier and Type	Method	Description
default void	addTransform(Tuple3DBasics tupleToTransform)	Transforms the given tuple by this matrix and add the result to the tuple.
default void	addTransform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)	Transforms the given tuple tupleOriginal by this matrix and add the result to tupleTransformed.
default void	checkIfMatrix2D()	Asserts that this matrix describes transformation in the XY plane.
default void	checkIfRotationMatrix()	Asserts that this matrix is a rotation matrix.
default boolean	containsNaN()	Tests if at least one element of this matrix is equal to Double.NaN.
default double	determinant()	Computes the determinant of this matrix.
default boolean	epsilonEquals(Matrix3DReadOnly other, double epsilon)	Tests on a per coefficient basis if this matrix is equal to the given other to an epsilon.
default boolean	equals(Matrix3DReadOnly other)	Tests on a per component basis if this matrix is exactly equal to other.
default void	get(double[] matrixArrayToPack)	Packs the coefficients of this matrix into a row-major 1D array.
default void	get(int startIndex, double[] matrixArrayToPack)	Packs the coefficients of this matrix into a row-major 1D array starting at the given index startIndex.
default void	get(int startRow, int startColumn, org.ejml.data.DenseMatrix64F matrixToPack)	Packs the coefficients of this matrix into a dense-matrix given index offsets for the row and the column.
default void	get(org.ejml.data.DenseMatrix64F matrixToPack)	Packs the coefficients of this matrix into a dense-matrix.
default void	getColumn(int column, double[] columnArrayToPack)	Packs a column of this matrix into an array.
default void	getColumn(int column, Tuple3DBasics columnToPack)	Packs a column of this matrix into a 3D tuple.
default double	getElement(int row, int column)	Retrieves and returns a coefficient of this matrix given its row and column indices.
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.
default void	getRow(int row, double[] rowArrayToPack)	Packs a row of this matrix into an array.
default void	getRow(int row, Tuple3DBasics rowToPack)	Packs a row of this matrix into a 3D tuple.
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.
default void	inverseTransform(Matrix3D matrixToTransform)	Performs the inverse of the transforms to the given 3D matrix matrixOriginal by this matrix.
default void	inverseTransform(Tuple2DBasics tupleToTransform)	Performs the inverse of the transform to the given tuple by this matrix.
default void	inverseTransform(Tuple2DBasics tupleToTransform, boolean checkIfTransformInXYPlane)	Performs the inverse of the transform to the given tuple by this matrix.
default void	inverseTransform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed)	Performs the inverse of the transform to the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
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.
default void	inverseTransform(Tuple3DBasics tupleToTransform)	Performs the inverse of the transform to the given tuple by this matrix.
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.
default void	inverseTransform(Vector4DBasics vectorToTransform)	Performs the inverse of the transform to the vector part the given 4D vector by this matrix.
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.
default boolean	isIdentity()	Tests if this matrix is equal to the identity matrix.
default boolean	isIdentity(double epsilon)	Tests if this matrix is equal to the identity matrix.
default boolean	isMatrix2D()	Tests if this matrix describes transformation in the XY plane.
default boolean	isMatrix2D(double epsilon)	Tests if this matrix describes transformation in the XY plane.
default boolean	isMatrixSkewSymmetric()	Tests if this matrix is skew symmetric:
default boolean	isMatrixSkewSymmetric(double epsilon)	Tests if this matrix is skew symmetric:
default boolean	isRotationMatrix()	Tests if this matrix is a rotation matrix.
default boolean	isRotationMatrix(double epsilon)	Tests if this matrix is a rotation matrix given a tolerance epsilon.
void	transform(Matrix3DReadOnly matrixOriginal, Matrix3D matrixTransformed)	Transforms the given 3D matrix matrixOriginal by this matrix and stores the result in matrixTransformed.
default void	transform(Matrix3D matrixToTransform)	Transforms the given 3D matrix by this matrix.
default void	transform(Tuple2DBasics tupleToTransform)	Transforms the given tuple by this matrix.
default void	transform(Tuple2DBasics tupleToTransform, boolean checkIfTransformInXYPlane)	Transforms the given tuple by this matrix.
default void	transform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed)	Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
default void	transform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed, boolean checkIfRotationInXYPlane)	Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
default void	transform(Tuple3DBasics tupleToTransform)	Transforms the given tuple by this matrix.
default void	transform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)	Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
default void	transform(Vector4DBasics vectorToTransform)	Transforms the vector part of the given 4D vector.
default void	transform(Vector4DReadOnly vectorOriginal, Vector4DBasics vectorTransformed)	Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

Method Detail

getM00

double getM00()

Gets the 1st row 1st column coefficient of this matrix.

Returns:

the 1st row 1st column coefficient.

getM01

double getM01()

Gets the 1st row 2nd column coefficient of this matrix.

Returns:

the 1st row 2nd column coefficient.

getM02

double getM02()

Gets the 1st row 3rd column coefficient of this matrix.

Returns:

the 1st row 3rd column coefficient.

getM10

double getM10()

Gets the 2nd row 1st column coefficient of this matrix.

Returns:

the 2nd row 1st column coefficient.

getM11

double getM11()

Gets the 2nd row 2nd column coefficient of this matrix.

Returns:

the 2nd row 2nd column coefficient.

getM12

double getM12()

Gets the 2nd row 3rd column coefficient of this matrix.

Returns:

the 2nd row 3rd column coefficient.

getM20

double getM20()

Gets the 3rd row 1st column coefficient of this matrix.

Returns:

the 3rd row 1st column coefficient.

getM21

double getM21()

Gets the 3rd row 2nd column coefficient of this matrix.

Returns:

the 3rd row 2nd column coefficient.

getM22

double getM22()

Gets the 3rd row 3rd column coefficient of this matrix.

Returns:

the 3rd row 3rd column coefficient.

getElement

default double getElement(int row,
                          int column)

Retrieves and returns a coefficient of this matrix given its row and column indices.

Parameters:

row - the row of the coefficient to return.

column - the column of the coefficient to return.

Returns:

the coefficient's value.

Throws:

java.lang.ArrayIndexOutOfBoundsException - if either row ∉ [0, 2] or column ∉ [0, 2].

get

default void get(double[] matrixArrayToPack)

Packs the coefficients of this matrix into a row-major 1D array.

Parameters:

matrixArrayToPack - the array in which the coefficients of this matrix are stored. Modified.

get

default void get(int startIndex,
                 double[] matrixArrayToPack)

Packs the coefficients of this matrix into a row-major 1D array starting at the given index startIndex.

Parameters:

startIndex - index in the array to store the first coefficient of this matrix.

matrixArrayToPack - the array in which the coefficients of this matrix are stored. Modified.

get

default void get(org.ejml.data.DenseMatrix64F matrixToPack)

Packs the coefficients of this matrix into a dense-matrix.

Parameters:

matrixToPack - the dense-matrix in which the coefficients of this matrix are stored. Modified.

get

default void get(int startRow,
                 int startColumn,
                 org.ejml.data.DenseMatrix64F matrixToPack)

Packs the coefficients of this matrix into a dense-matrix given index offsets for the row and the column.

Parameters:

startRow - the first row index to start writing in the dense-matrix.

startColumn - the first column index to start writing in the dense-matrix.

matrixToPack - the dense-matrix in which the coefficients of this matrix are stored. Modified.

getColumn

default void getColumn(int column,
                       double[] columnArrayToPack)

Packs a column of this matrix into an array.

Parameters:

column - the index of the column to pack.

columnArrayToPack - the array in which the column of this matrix is stored. Modified.

Throws:

java.lang.ArrayIndexOutOfBoundsException - if column ∉ [0, 2].

getColumn

default void getColumn(int column,
                       Tuple3DBasics columnToPack)

Packs a column of this matrix into a 3D tuple.

Parameters:

column - the index of the column to pack.

columnToPack - the tuple in which the column of this matrix is stored. Modified.

Throws:

java.lang.ArrayIndexOutOfBoundsException - if column ∉ [0, 2].

getRow

default void getRow(int row,
                    double[] rowArrayToPack)

Packs a row of this matrix into an array.

Parameters:

row - the index of the row to pack.

rowArrayToPack - the array in which the row of this matrix is stored. Modified.

Throws:

java.lang.ArrayIndexOutOfBoundsException - if row ∉ [0, 2].

getRow

default void getRow(int row,
                    Tuple3DBasics rowToPack)

Packs a row of this matrix into a 3D tuple.

Parameters:

row - the index of the row to pack.

rowToPack - the array in which the row of this matrix is stored. Modified.

Throws:

java.lang.ArrayIndexOutOfBoundsException - if row ∉ [0, 2].

containsNaN

default boolean containsNaN()

Tests if at least one element of this matrix is equal to Double.NaN.

Returns:

true if at least one element of this matrix is equal to Double.NaN, false otherwise.

determinant

default double determinant()

Computes the determinant of this matrix.

Returns:

the determinant of this matrix.

checkIfRotationMatrix

default void checkIfRotationMatrix()

Asserts that this matrix is a rotation matrix.

This matrix is a rotation matrix if:

• the length of each row vector is equal to 1.0 +/- Matrix3DFeatures.EPS_CHECK_ROTATION,
• the dot product of each pair of row vectors is equal to 0.0 +/- Matrix3DFeatures.EPS_CHECK_ROTATION,
• the determinant of the matrix is equal to 1.0 +/- Matrix3DFeatures.EPS_CHECK_ROTATION.

Throws:

NotARotationMatrixException - if the matrix is not a rotation matrix.

checkIfMatrix2D

default void checkIfMatrix2D()

Asserts that this matrix describes transformation in the XY plane.

This matrix is considered to be a 2D transformation in the XY plane if:

• the last diagonal coefficient m22 is equal to 1.0 +/- Matrix3DFeatures.EPS_CHECK_2D,
• the coefficients m20, m02, m21, and m12 are equal to 0.0 +/- Matrix3DFeatures.EPS_CHECK_2D.

Throws:

NotAMatrix2DException - if the matrix represents a 3D transformation.

isIdentity

default boolean isIdentity()

Tests if this matrix is equal to the identity matrix.

The assertion is done on a per coefficient basis using Matrix3DFeatures.EPS_CHECK_IDENTITY as the tolerance.

Parameters:

epsilon - the tolerance as shown above.

Returns:

true if the given matrix is considered to be equal to the identity matrix, false otherwise.

isIdentity

default boolean isIdentity(double epsilon)

Tests if this matrix is equal to the identity matrix.

The assertion is done on a per coefficient basis using epsilon as the tolerance.

Parameters:

epsilon - the tolerance as shown above.

Returns:

true if the given matrix is considered to be equal to the identity matrix, false otherwise.

isRotationMatrix

default boolean isRotationMatrix()

Tests if this matrix is a rotation matrix.

This matrix is a rotation matrix if:

• the length of each row vector is equal to 1.0 +/- Matrix3DFeatures.EPS_CHECK_ROTATION,
• the dot product of each pair of row vectors is equal to 0.0 +/- Matrix3DFeatures.EPS_CHECK_ROTATION,
• the determinant of the matrix is equal to 1.0 +/- Matrix3DFeatures.EPS_CHECK_ROTATION.

Returns:

true if this matrix is a rotation matrix, false otherwise.

isRotationMatrix

default boolean isRotationMatrix(double epsilon)

Tests if this matrix is a rotation matrix given a tolerance epsilon.

This matrix is a rotation matrix if:

• the length of each row vector is equal to 1.0 +/- epsilon,
• the dot product of each pair of row vectors is equal to 0.0 +/- epsilon,
• the determinant of the matrix is equal to 1.0 +/- epsilon.

Parameters:

epsilon - the tolerance to use.

Returns:

true if this matrix is a rotation matrix, false otherwise.

isMatrix2D

default boolean isMatrix2D()

Tests if this matrix describes transformation in the XY plane.

This matrix is considered to be a 2D transformation in the XY plane if:

• the last diagonal coefficient m22 is equal to 1.0 +/- Matrix3DFeatures.EPS_CHECK_2D,
• the coefficients m20, m02, m21, and m12 are equal to 0.0 +/- Matrix3DFeatures.EPS_CHECK_2D.

Returns:

true if this matrix describes a 2D transformation in the XY plane, false otherwise.

isMatrix2D

default boolean isMatrix2D(double epsilon)

Tests if this matrix describes transformation in the XY plane.

This matrix is considered to be a 2D transformation in the XY plane if:

• the last diagonal coefficient m22 is equal to 1.0 +/- epsilon,
• the coefficients m20, m02, m21, and m12 are equal to 0.0 +/- epsilon.

Parameters:

epsilon - the tolerance to use.

Returns:

true if this matrix describes a 2D transformation in the XY plane, false otherwise.

isMatrixSkewSymmetric

default boolean isMatrixSkewSymmetric()

Tests if this matrix is skew symmetric:

     |  0 -z  y |
 m = |  z  0 -x |
     | -y  x  0 |
 

This matrix is considered to be skew symmetric if:

• each diagonal coefficient is equal to 0.0 +/- Matrix3DFeatures.EPS_CHECK_SKEW,
• the sums of each pair of cross-diagonal coefficients (m10, m01), (m12, m21), and (m20, m02) are equal to 0.0 +/- Matrix3DFeatures.EPS_CHECK_SKEW.

Returns:

true if the matrix is skew symmetric, false otherwise.

isMatrixSkewSymmetric

default boolean isMatrixSkewSymmetric(double epsilon)

Tests if this matrix is skew symmetric:

     |  0 -z  y |
 m = |  z  0 -x |
     | -y  x  0 |
 

This matrix is considered to be skew symmetric if:

• each diagonal coefficient is equal to 0.0 +/- epsilon,
• the sums of each pair of cross-diagonal coefficients (m10, m01), (m12, m21), and (m20, m02) are equal to 0.0 +/- epsilon.

Parameters:

epsilon - the tolerance to use.

Returns:

true if the matrix is skew symmetric, false otherwise.

transform

default void transform(Tuple3DBasics tupleToTransform)

Transforms the given tuple by this matrix.

tupleToTransform = this * tupleToTransform

Parameters:

tupleToTransform - the tuple to transform. Modified.

transform

default void transform(Tuple3DReadOnly tupleOriginal,
                       Tuple3DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.

tupleTransformed = this * tupleOriginal

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

addTransform

default void addTransform(Tuple3DBasics tupleToTransform)

Transforms the given tuple by this matrix and add the result to the tuple.

tupleToTransform = tupleToTransform + this * tupleToTransform

Parameters:

tupleToTransform - the tuple to transform. Modified.

addTransform

default void addTransform(Tuple3DReadOnly tupleOriginal,
                          Tuple3DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this matrix and add the result to tupleTransformed.

tupleTransformed = tupleTransformed + this * tupleOriginal

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to add the result to. Modified.

transform

default void transform(Tuple2DBasics tupleToTransform)

Transforms the given tuple by this matrix.

tupleToTransform = this * tupleToTransform

Parameters:

tupleToTransform - the tuple to transform. Modified.

Throws:

NotAMatrix2DException - if this matrix does not represent a transformation in the XY plane.

transform

default void transform(Tuple2DReadOnly tupleOriginal,
                       Tuple2DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.

tupleTransformed = this * tupleOriginal

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

NotAMatrix2DException - if this matrix does not represent a transformation in the XY plane.

transform

default void transform(Tuple2DBasics tupleToTransform,
                       boolean checkIfTransformInXYPlane)

Transforms the given tuple by this matrix.

tupleToTransform = this * tupleToTransform

Parameters:

tupleToTransform - the tuple to transform. Modified.

checkIfTransformInXYPlane - whether this method should assert that this matrix represents a transformation in the XY plane.

Throws:

NotAMatrix2DException - if checkIfTransformInXYPlane == true and this matrix does not represent a transformation in the XY plane.

transform

default void transform(Tuple2DReadOnly tupleOriginal,
                       Tuple2DBasics tupleTransformed,
                       boolean checkIfRotationInXYPlane)

Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.

tupleTransformed = this * tupleOriginal

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfRotationInXYPlane - whether this method should assert that this matrix represents a transformation in the XY plane.

Throws:

NotAMatrix2DException - if checkIfTransformInXYPlane == true and this matrix does not represent a transformation in the XY plane.

transform

default void transform(Matrix3D matrixToTransform)

Transforms the given 3D matrix by this matrix.

matrixToTransform = this * matrixToTransform * this^-1

Parameters:

matrixToTransform - the matrix to transform. Modified.

Throws:

SingularMatrixException - if this matrix is not invertible.

transform

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

Parameters:

matrixOriginal - the matrix to transform. Not modified.

matrixTransformed - the matrix in which the result is stored. Modified.

Throws:

SingularMatrixException - if this matrix is not invertible.

transform

default void transform(Vector4DBasics vectorToTransform)

Transforms the vector part of the given 4D vector.

vectorToTransform.s = vectorToTransform.s
vectorToTransform.xyz = this * vectorToTransform.xyz

Parameters:

vectorToTransform - the vector to transform. Modified.

transform

default void transform(Vector4DReadOnly vectorOriginal,
                       Vector4DBasics vectorTransformed)

Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this * vectorOriginal.xyz

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

inverseTransform

default void inverseTransform(Tuple3DBasics tupleToTransform)

Performs the inverse of the transform to the given tuple by this matrix.

tupleToTransform = this^-1 * tupleToTransform

Parameters:

tupleToTransform - the tuple to transform. Modified.

Throws:

SingularMatrixException - if this matrix is not invertible.

inverseTransform

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

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple in which the result is stored. Modified.

Throws:

SingularMatrixException - if this matrix is not invertible.

inverseTransform

default void inverseTransform(Tuple2DBasics tupleToTransform)

Performs the inverse of the transform to the given tuple by this matrix.

tupleToTransform = this^-1 * tupleToTransform

Parameters:

tupleToTransform - the tuple to transform. Modified.

Throws:

NotAMatrix2DException - if this matrix does not represent a transformation in the XY plane.

SingularMatrixException - if this matrix is not invertible.

inverseTransform

default void inverseTransform(Tuple2DReadOnly tupleOriginal,
                              Tuple2DBasics 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

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple in which the result is stored. Modified.

Throws:

NotAMatrix2DException - if this matrix does not represent a transformation in the XY plane.

SingularMatrixException - if this matrix is not invertible.

inverseTransform

default void inverseTransform(Tuple2DBasics tupleToTransform,
                              boolean checkIfTransformInXYPlane)

Performs the inverse of the transform to the given tuple by this matrix.

tupleToTransform = this^-1 * tupleToTransform

Parameters:

tupleToTransform - the tuple to transform. Modified.

checkIfTransformInXYPlane - whether this method should assert that this matrix represents a transformation in the XY plane.

Throws:

NotAMatrix2DException - if checkIfTransformInXYPlane == true and this matrix does not represent a transformation in the XY plane.

SingularMatrixException - if this matrix is not invertible.

inverseTransform

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

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.

Throws:

NotAMatrix2DException - if checkIfTransformInXYPlane == true and this matrix does not represent a transformation in the XY plane.

SingularMatrixException - if this matrix is not invertible.

inverseTransform

default void inverseTransform(Matrix3D matrixToTransform)

Performs the inverse of the transforms to the given 3D matrix matrixOriginal by this matrix.

matrixToTransform = this^-1 * matrixToTransform * this^-1

Parameters:

matrixToTransform - the matrix to transform. Not modified.

Throws:

SingularMatrixException - if this matrix is not invertible.

inverseTransform

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

Parameters:

matrixOriginal - the matrix to transform. Not modified.

matrixTransformed - the matrix in which the result is stored. Modified.

Throws:

SingularMatrixException - if this matrix is not invertible.

inverseTransform

default void inverseTransform(Vector4DBasics vectorToTransform)

Performs the inverse of the transform to the vector part the given 4D vector by this matrix.

vectorToTransform.s = vectorToTransform.s
vectorToTransform.xyz = this^-1 * vectorToTransform.xyz

Parameters:

vectorToTransform - the vector to transform. Modified.

Throws:

SingularMatrixException - if this matrix is not invertible.

inverseTransform

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

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

SingularMatrixException - if this matrix is not invertible.

equals

default boolean equals(Matrix3DReadOnly other)

Tests on a per component basis if this matrix is exactly equal to other.

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 component-wise, false otherwise.

epsilonEquals

default boolean epsilonEquals(Matrix3DReadOnly other,
                              double epsilon)

Tests on a per coefficient basis if this matrix is equal to the given other to an epsilon.

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.