org.myrobotlab.kinematics

Class Matrix

java.lang.Object

org.myrobotlab.kinematics.Matrix

All Implemented Interfaces:

java.io.Serializable

public class Matrix
extends java.lang.Object
implements java.io.Serializable

Encapsulates a 4x4 matrix

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
double[][]	elements

Constructor Summary

Constructors

Constructor and Description
Matrix(int rows, int cols)

Method Summary

Modifier and Type	Method and Description
Matrix	addTo(Matrix m)
java.lang.Double	dot(Matrix m) Computes the dot product (or scalar product) of two matrices by multiplying corresponding elements and summing all the products.
boolean	equals(double val)
int	getNumCols()
int	getNumRows()
Matrix	multiply(double s) Scalar multiplication- multiplies each element by a scalar
Matrix	multiply(Matrix m)
Matrix	pseudoInverse() Calculates the matrix's Moore-Penrose pseudoinverse
static Matrix	scaling(double sx, double sy, double sz)
Matrix	subtractFrom(Matrix m)
java.lang.String	toString()
static Matrix	translation(double tx, double ty, double tz)
Matrix	transpose()
static Matrix	xRotation(double theta)
static Matrix	yRotation(double theta)
static Matrix	zRotation(double theta)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

elements

public double[][] elements

Constructor Detail

Matrix

public Matrix(int rows,
              int cols)

Method Detail

scaling

public static Matrix scaling(double sx,
                             double sy,
                             double sz)

Parameters:

sx - scaling in the x direction

sy - scaling in the y direction

sz - scaling in the z direction

Returns:

the associated scaling transformation matrix

translation

public static Matrix translation(double tx,
                                 double ty,
                                 double tz)

Parameters:

tx - translations in the x direction

ty - translations in the y direction

tz - translations in the z direction

Returns:

the associated translation transformation matrix

xRotation

public static Matrix xRotation(double theta)

Parameters:

theta - an angle in radians

Returns:

the associated x-axis rotation transformation matrix

yRotation

public static Matrix yRotation(double theta)

Parameters:

theta - an angle in radians

Returns:

the associated y-axis rotation transformation matrix

zRotation

public static Matrix zRotation(double theta)

Parameters:

theta - an angle in radians

Returns:

the associated z-axis rotation transformation matrix

addTo

public Matrix addTo(Matrix m)

Parameters:

m - a Matrix

Returns:

a new matrix which is equal to the sum of this + m

dot

public java.lang.Double dot(Matrix m)

Computes the dot product (or scalar product) of two matrices by multiplying corresponding elements and summing all the products.

Parameters:

m - A Matrix with the same dimensions

Returns:

the dot product (scalar product)

equals

public boolean equals(double val)

Parameters:

val - a scalar

Returns:

true if and only if all elements of the matrix equal val

getNumCols

public int getNumCols()

getNumRows

public int getNumRows()

multiply

public Matrix multiply(double s)

Scalar multiplication- multiplies each element by a scalar

Parameters:

s - a scalar

Returns:

a new matrix which is equal to the product of s*this

multiply

public Matrix multiply(Matrix m)

Parameters:

m - a Matrix

Returns:

a new matrix which is equal to the product of this*m

pseudoInverse

public Matrix pseudoInverse()

Calculates the matrix's Moore-Penrose pseudoinverse

Returns:

an MxN matrix which is the matrix's pseudoinverse.

subtractFrom

public Matrix subtractFrom(Matrix m)

Parameters:

m - a Matrix

Returns:

a new matrix which is equal to the difference of this - m

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

Returns:

a String representation of the matrix

transpose

public Matrix transpose()

Returns:

the transposed matrix with dimensions numCols x numRows