found::Mat3 Class Reference

A Mat3 is a mutable object that represents a 3x3 Matrix. More...

#include <attitude-utils.hpp>

Public Member Functions
decimal	At (int i, int j) const
	Obtains an entry in this Matrix.
Vec3	Column (int) const
	Obtains one of the column vectors in this Matrix.
Vec3	Row (int) const
	Obtains one of the row vectors in this Matrix.
decimal	Trace () const
	Obtains the trace of this Matrix.
decimal	Det () const
	Obtains the determinant of this Matrix.
Mat3	operator+ (const Mat3 &) const
	Matrix Addition (element-wise)
Mat3	operator* (const Mat3 &) const
	Matrix Multiplication.
Vec3	operator* (const Vec3 &) const
	Matrix-Vector Multiplication.
Mat3	operator* (const decimal &) const
	Matrix-Scalar Multiplication.
Mat3	Transpose () const
	Obtains the transpose of this Matrix.
Mat3	Inverse () const
	Obtains the inverse of this Matrix.

Public Attributes
decimal	x [9]
	The matrix entries.

Detailed Description

A Mat3 is a mutable object that represents a 3x3 Matrix.

Member Function Documentation

At()

decimal found::Mat3::At	(	int	i,
		int	j
	)		const

Obtains an entry in this Matrix.

Parameters

i	The row of the entry
j	The column of the entry

Returns

The value of the entry in this at (i, j)

Column()

Vec3 found::Mat3::Column

(

int

j

)

const

Obtains one of the column vectors in this Matrix.

Parameters

j	The column of the vector

Returns

The vector at column j

Det()

decimal found::Mat3::Det

(

)

const

Obtains the determinant of this Matrix.

Returns

The determinant of this

Inverse()

Mat3 found::Mat3::Inverse

(

)

const

Obtains the inverse of this Matrix.

Returns

The inverse Matrix of this

operator*() [1/3]

Mat3 found::Mat3::operator*

(

const decimal &

scalar

)

const

Matrix-Scalar Multiplication.

Parameters

scalar

The scalar to multiply with

Returns

scalar * this

operator*() [2/3]

Mat3 found::Mat3::operator*

(

const Mat3 &

other

)

const

Matrix Multiplication.

Parameters

other

The other matrix

Returns

this @ other

operator*() [3/3]

Vec3 found::Mat3::operator*

(

const Vec3 &

vec

)

const

Matrix-Vector Multiplication.

Parameters

vec	The vector to multiply

Returns

this @ other

Note

Same as Vector::operator*(const Mat3 &), but with swapped parameters (duh?)

operator+()

Mat3 found::Mat3::operator+

(

const Mat3 &

other

)

const

Matrix Addition (element-wise)

Parameters

other

Returns

this + other

Row()

Vec3 found::Mat3::Row

(

int

i

)

const

Obtains one of the row vectors in this Matrix.

Parameters

i	The row of the vector

Returns

The vector at row i

Trace()

decimal found::Mat3::Trace

(

)

const

Obtains the trace of this Matrix.

Returns

The trace of this

Transpose()

Mat3 found::Mat3::Transpose

(

)

const

Obtains the transpose of this Matrix.

Returns

The transpose Matrix of this

Note

Use this over Inverse if your matrix is orthogonal (e.g. A DCM)

---

The documentation for this class was generated from the following files:

• src/common/spatial/attitude-utils.hpp
• src/common/spatial/attitude-utils.cpp