Package us.ihmc.euclid.matrix.interfaces

Interface RotationScaleMatrixReadOnly

All Superinterfaces:

Matrix3DReadOnly

All Known Implementing Classes:

RotationScaleMatrix

public interface RotationScaleMatrixReadOnly
extends Matrix3DReadOnly

Read interface for 3-by-3 rotation-scale matrices.

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:

     / sx 0 0 \
 S = | 0 sy 0 |
     \ 0 0 sz /
 

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.

Author:

Sylvain Bertrand

Method Summary

Modifier and Type	Method	Description
default void	addTransform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)	Transforms the given tuple tupleOriginal by this matrix and add the result to tupleTransformed.
default boolean	epsilonEquals(RotationScaleMatrixReadOnly other, double epsilon)	Tests the rotation parts and scales of both matrices are equal to an epsilon.
default boolean	geometricallyEquals(RotationScaleMatrixReadOnly other, double epsilon)	Tests if this and other represent the same rotation-scale to an epsilon.
default double	getM00()	Gets the 1st row 1st column coefficient of this matrix.
default double	getM01()	Gets the 1st row 2nd column coefficient of this matrix.
default double	getM02()	Gets the 1st row 3rd column coefficient of this matrix.
default double	getM10()	Gets the 2nd row 1st column coefficient of this matrix.
default double	getM11()	Gets the 2nd row 2nd column coefficient of this matrix.
default double	getM12()	Gets the 2nd row 3rd column coefficient of this matrix.
default double	getM20()	Gets the 3rd row 1st column coefficient of this matrix.
default double	getM21()	Gets the 3rd row 2nd column coefficient of this matrix.
default double	getM22()	Gets the 3rd row 3rd column coefficient of this matrix.
default double	getMaxScale()	Retrieves the scale factor with the maximum value and returns it.
default void	getRotation(double[] rotationMatrixArrayToPack)	Packs the rotation part as a rotation matrix and stores it into a row-major 1D array.
default void	getRotation(org.ejml.data.DenseMatrix64F rotationMatrixToPack)	Packs the rotation part as a rotation matrix.
default void	getRotation(Orientation3DBasics orientationToPack)	Packs the rotation part.
default void	getRotation(Vector3DBasics rotationVectorToPack)	Packs the rotation part as an rotation vector.
default void	getRotationEuler(Tuple3DBasics eulerAnglesToPack)	Packs the orientation described by the rotation part as the Euler angles.
RotationMatrixReadOnly	getRotationMatrix()	Returns the read-only reference to the rotation matrix used to compose this rotation-scale matrix.
default double	getRotationPitch()	Computes and returns the pitch angle from the yaw-pitch-roll representation of the rotation part.
default double	getRotationRoll()	Computes and returns the roll angle from the yaw-pitch-roll representation of the rotation part.
default double	getRotationYaw()	Computes and returns the yaw angle from the yaw-pitch-roll representation of the rotation part.
default void	getRotationYawPitchRoll(double[] yawPitchRollToPack)	Packs the orientation described by the rotation part as the yaw-pitch-roll angles.
Vector3DReadOnly	getScale()	Returns the read-only reference to the scale factors used to compose this rotation-scale matrix.
default void	getScale(Tuple3DBasics scaleToPack)	Packs the scale factors in a tuple.
default double	getScaleX()	Returns the current value of the first scale factor of this rotation-scale matrix.
default double	getScaleY()	Returns the current value of the second scale factor of this rotation-scale matrix.
default double	getScaleZ()	Returns the current value of the third scale factor of this rotation-scale matrix.
default 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(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given rotation matrix matrixOriginal by the rotation part of this rotation-scale matrix and stores the result in matrixTransformed.
default void	inverseTransform(RotationMatrix matrixToTransform)	Performs the inverse of the transform to the given rotation matrix by the rotation part of this rotation-scale matrix.
default 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(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(QuaternionBasics quaternionToTransform)	Performs the inverse of the transform to the given quaternion by the rotation part of this rotation-scale matrix.
default void	inverseTransform(QuaternionReadOnly quaternionOriginal, QuaternionBasics quaternionTransformed)	Performs the inverse of the transform to the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
default 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 void	transform(Matrix3DReadOnly matrixOriginal, Matrix3D matrixTransformed)	Transforms the given 3D matrix matrixOriginal by this matrix and stores the result in matrixTransformed.
default void	transform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given rotation matrix matrixOriginal by the rotation part of this rotation-scale matrix and stores the result in matrixTransformed.
default void	transform(RotationMatrix matrixToTransform)	Transforms the given rotation matrix by the rotation part of this rotation-scale matrix.
default void	transform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane)	Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
default void	transform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)	Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
default void	transform(QuaternionBasics quaternionToTransform)	Transforms the given quaternion by the rotation part of this rotation-scale matrix.
default void	transform(QuaternionReadOnly quaternionOriginal, QuaternionBasics quaternionTransformed)	Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
default void	transform(Vector4DReadOnly vectorOriginal, Vector4DBasics vectorTransformed)	Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

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

addTransform, checkIfMatrix2D, checkIfRotationMatrix, containsNaN, 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

Method Detail

getRotationMatrix

RotationMatrixReadOnly getRotationMatrix()

Returns the read-only reference to the rotation matrix used to compose this rotation-scale matrix.

Returns:

the read-only reference to the rotation matrix.

getScale

Vector3DReadOnly getScale()

Returns the read-only reference to the scale factors used to compose this rotation-scale matrix.

Returns:

the read-only reference to the scale factors.

getScaleX

default double getScaleX()

Returns the current value of the first scale factor of this rotation-scale matrix.

Returns:

the value of the first scale factor.

getScaleY

default double getScaleY()

Returns the current value of the second scale factor of this rotation-scale matrix.

Returns:

the value of the second scale factor.

getScaleZ

default double getScaleZ()

Returns the current value of the third scale factor of this rotation-scale matrix.

Returns:

the value of the third scale factor.

getM00

default 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

default 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

default 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

default 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

default 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

default 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

default 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

default 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

default 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.

getMaxScale

default double getMaxScale()

Retrieves the scale factor with the maximum value and returns it.

Returns:

the maximum value among the scale factors.

getRotation

default void getRotation(Orientation3DBasics orientationToPack)

Packs the rotation part.

Parameters:

orientationToPack - the orientation in which the rotation part is stored. Modified.

getRotation

default void getRotation(double[] rotationMatrixArrayToPack)

Packs the rotation part as a rotation matrix and stores it into a row-major 1D array.

Parameters:

rotationMatrixArrayToPack - the array in which the coefficients of the rotation part are stored. Modified.

getRotation

default void getRotation(org.ejml.data.DenseMatrix64F rotationMatrixToPack)

Packs the rotation part as a rotation matrix.

Parameters:

rotationMatrixToPack - the rotation matrix in which the rotation part is stored. Modified.

getRotation

default void getRotation(Vector3DBasics rotationVectorToPack)

Packs the rotation part as an rotation vector.

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:

rotationVectorToPack - the rotation vector in which the rotation part is stored. Modified.

getRotationEuler

default void getRotationEuler(Tuple3DBasics eulerAnglesToPack)

Packs the orientation described by the rotation part as the Euler angles.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.

Parameters:

eulerAnglesToPack - the tuple in which the Euler angles are stored. Modified.

getRotationYawPitchRoll

default void getRotationYawPitchRoll(double[] yawPitchRollToPack)

Packs the orientation described by the rotation part as the yaw-pitch-roll angles.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.

Parameters:

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored. Modified.

getRotationYaw

default double getRotationYaw()

Computes and returns the yaw angle from the yaw-pitch-roll representation of the rotation part.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.

Returns:

the yaw angle around the z-axis.

getRotationPitch

default double getRotationPitch()

Computes and returns the pitch angle from the yaw-pitch-roll representation of the rotation part.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.

Returns:

the pitch angle around the y-axis.

getRotationRoll

default double getRotationRoll()

Computes and returns the roll angle from the yaw-pitch-roll representation of the rotation part.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.

Returns:

the roll angle around the x-axis.

getScale

default void getScale(Tuple3DBasics scaleToPack)

Packs the scale factors in a tuple.

Parameters:

scaleToPack - the tuple in which the scale factors are stored. 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

Specified by:

transform in interface Matrix3DReadOnly

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. 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

Specified by:

addTransform in interface Matrix3DReadOnly

Parameters:

tupleOriginal - the tuple to transform. Not modified.

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

transform

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

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

tupleTransformed = this * tupleOriginal

Specified by:

transform in interface Matrix3DReadOnly

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

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

transform

default void transform(QuaternionBasics quaternionToTransform)

Transforms the given quaternion by the rotation part of this rotation-scale matrix.

quaternionToTransform = Q(this.getRotationMatrix()) * quaternionToTransform
where Q(this.getRotationMatrix()) is the equivalent quaternion for the rotation part of this rotation-scale matrix.

Parameters:

quaternionToTransform - the quaternion to transform. Modified.

transform

default void transform(QuaternionReadOnly quaternionOriginal,
                       QuaternionBasics quaternionTransformed)

Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.

quaternionToTransform = Q(this.getRotationMatrix()) * quaternionToTransform
where Q(this.getRotationMatrix()) is the equivalent quaternion for the rotation part of this rotation-scale matrix.

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion in which the result is stored. 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

Specified by:

transform in interface Matrix3DReadOnly

Parameters:

vectorOriginal - the vector to transform. Not modified.

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

transform

default void transform(RotationMatrix matrixToTransform)

Transforms the given rotation matrix by the rotation part of this rotation-scale matrix.

matrixToTransform = this.getRotationMatrix() * matrixToTransform

Parameters:

matrixToTransform - the rotation matrix to transform. Modified.

transform

default void transform(RotationMatrixReadOnly matrixOriginal,
                       RotationMatrix matrixTransformed)

Transforms the given rotation matrix matrixOriginal by the rotation part of this rotation-scale matrix and stores the result in matrixTransformed.

matrixTransformed = this.getRotationMatrix() * matrixOriginal

Parameters:

matrixOriginal - the rotation matrix to transform. Not modified.

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

transform

default 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

default 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

default 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

default void inverseTransform(QuaternionBasics quaternionToTransform)

Performs the inverse of the transform to the given quaternion by the rotation part of this rotation-scale matrix.

quaternionToTransform = Q(this.getRotationMatrix()^-1) * quaternionToTransform
where Q(this.getRotationMatrix()^-1) is the equivalent quaternion for the inverse of the rotation part of this rotation-scale matrix.

This operation uses the property:
q^-1 = conjugate(q)
of a quaternion preventing to actually compute the inverse of the matrix.

Parameters:

quaternionToTransform - the quaternion to transform. Modified.

inverseTransform

default void inverseTransform(QuaternionReadOnly quaternionOriginal,
                              QuaternionBasics quaternionTransformed)

Performs the inverse of the transform to the given quaternion quaternionOriginal and stores the result into quaternionTransformed.

quaternionToTransform = Q(this.getRotationMatrix()^-1) * quaternionToTransform
where Q(this.getRotationMatrix()^-1) is the equivalent quaternion for the inverse of the rotation part of this rotation-scale matrix.

This operation uses the property:
q^-1 = conjugate(q)
of a quaternion preventing to actually compute the inverse of the matrix.

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion in which the result is stored. Modified.

inverseTransform

default 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

default void inverseTransform(RotationMatrix matrixToTransform)

Performs the inverse of the transform to the given rotation matrix by the rotation part of this rotation-scale matrix.

matrixToTransform = this.getRotationMatrix()^-1 * matrixToTransform

This operation uses the property:
R^-1 = R^T
of a rotation matrix preventing to actually compute the inverse of the matrix.

Parameters:

matrixToTransform - the rotation matrix to transform. Modified.

inverseTransform

default void inverseTransform(RotationMatrixReadOnly matrixOriginal,
                              RotationMatrix matrixTransformed)

Transforms the given rotation matrix matrixOriginal by the rotation part of this rotation-scale matrix and stores the result in matrixTransformed.

matrixTransformed = this.getRotationMatrix()^-1 * matrixOriginal

This operation uses the property:
R^-1 = R^T
of a rotation matrix preventing to actually compute the inverse of the matrix.

Parameters:

matrixOriginal - the rotation matrix to transform. Not modified.

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

inverseTransform

default 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.

epsilonEquals

default boolean epsilonEquals(RotationScaleMatrixReadOnly other,
                              double epsilon)

Tests the rotation parts and scales of both matrices are equal to an epsilon.

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

default boolean geometricallyEquals(RotationScaleMatrixReadOnly 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.

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.