Detailed Description

template<class TReal>
class sofa::linearalgebra::RotationMatrix< TReal >

3x3 block-diagonal matrix where each block is considered as a rotation.

Template Parameters

TReal Type of scalar

One of the feature of this class is to rotate another matrix: if M is a matrix and R is a rotation matrix, it can compute M * R.

Protected Attributes
type::vector< Real >	data

Public Member Functions
sofa::SignedIndex	rowSize (void) const override
	Number of rows. More...

sofa::SignedIndex	colSize (void) const override
	Number of columns. More...

SReal	element (Index i, sofa::SignedIndex j) const override
	Read the value of the element at row i, column j (using 0-based indices) More...

void	resize (sofa::SignedIndex nbRow, sofa::SignedIndex nbCol) override
	Resize the matrix and reset all values to 0. More...

void	clear () override
	Reset all values to 0. More...

virtual void	setIdentity ()

void	set (sofa::SignedIndex i, sofa::SignedIndex j, double v) override
	Write the value of the element at row i, column j (using 0-based indices) More...

void	add (sofa::SignedIndex i, sofa::SignedIndex j, double v) override
	Add v to the existing value of the element at row i, column j (using 0-based indices) More...

virtual type::vector< Real > &	getVector ()

void	opMulV (linearalgebra::BaseVector result, const linearalgebra::BaseVector v) const override
	Multiply the matrix by vector v and put the result in vector result. More...

void	opMulTV (linearalgebra::BaseVector result, const linearalgebra::BaseVector v) const override
	Multiply the transposed matrix by vector v and put the result in vector result. More...

void	opMulTM (linearalgebra::BaseMatrix bresult, linearalgebra::BaseMatrix bm) const override
	multiply the transpose current matrix by m matrix and store the result in m More...

void	rotateMatrix (linearalgebra::BaseMatrix mat, const linearalgebra::BaseMatrix Jmat)

const char *	Name ()

const char *	Name ()

SOFA_LINEARALGEBRA_API const char *	Name ()

SOFA_LINEARALGEBRA_API const char *	Name ()

virtual void	add (Index row, Index col, double v)=0
	Add v to the existing value of the element at row i, column j (using 0-based indices) More...

virtual void	add (Index row, Index col, const type::Mat3x3d &_M)
	Adding values from a 3x3d matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat3x3f &_M)
	Adding values from a 3x3f matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat2x2d &_M)
	Adding values from a 2x2d matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat2x2f &_M)
	Adding values from a 2x2f matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat6x6d &_M)
	Adding values from a 6x6d matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat6x6f &_M)
	Adding values from a 6x6f matrix. This function may be overload to obtain better performances. More...

Public Member Functions inherited from sofa::linearalgebra::BaseMatrix
	BaseMatrix ()

virtual	~BaseMatrix ()

Index	rows (void) const
	Number of rows (Eigen-compatible API) More...

Index	cols (void) const
	Number of columns (Eigen-compatible API) More...

SReal	operator() (Index i, Index j) const
	Read the value of the element at row i, column j (using 0-based indices). Eigen-compatible API. More...

virtual void	add (Index row, Index col, const type::Mat3x3d &_M)
	Adding values from a 3x3d matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat3x3f &_M)
	Adding values from a 3x3f matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat2x2d &_M)
	Adding values from a 2x2d matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat2x2f &_M)
	Adding values from a 2x2f matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat6x6d &_M)
	Adding values from a 6x6d matrix. This function may be overload to obtain better performances. More...

virtual void	add (Index row, Index col, const type::Mat6x6f &_M)
	Adding values from a 6x6f matrix. This function may be overload to obtain better performances. More...

virtual void	clear (Index i, Index j)

virtual void	clearRow (Index i)
	Reset all the values in row i to 0. More...

virtual void	clearRows (Index imin, Index imax)
	Clears the value of rows imin to imax-1. More...

virtual void	clearCol (Index j)
	Reset the all values in column j to 0. More...

virtual void	clearCols (Index imin, Index imax)
	Clears all the values in columns imin to imax-1. More...

virtual void	clearRowCol (Index i)
	Reset the value of both row and column i to 0. More...

virtual void	clearRowsCols (Index imin, Index imax)
	Clears all the values in rows imin to imax-1 and columns imin to imax-1. More...

virtual void	compress ()

virtual void	opMulV (float result, const float v) const
	Multiply the matrix by float vector v and put the result in vector result. More...

virtual void	opMulV (double result, const double v) const
	Multiply the matrix by double vector v and put the result in vector result. More...

virtual void	opPMulV (linearalgebra::BaseVector result, const linearalgebra::BaseVector v) const
	Multiply the matrix by vector v and add the result in vector result. More...

virtual void	opPMulV (float result, const float v) const
	Multiply the matrix by float vector v and add the result in vector result. More...

virtual void	opPMulV (double result, const double v) const
	Multiply the matrix by double vector v and add the result in vector result. More...

virtual void	opMulTV (float result, const float v) const
	Multiply the transposed matrix by float vector v and put the result in vector result. More...

virtual void	opMulTV (double result, const double v) const
	Multiply the transposed matrix by double vector v and put the result in vector result. More...

virtual void	opPMulTV (linearalgebra::BaseVector result, const linearalgebra::BaseVector v) const
	Multiply the transposed matrix by vector v and add the result in vector result. More...

virtual void	opPMulTV (float result, const float v) const
	Multiply the transposed matrix by float vector v and add the result in vector result. More...

virtual void	opPMulTV (double result, const double v) const
	Multiply the transposed matrix by double vector v and add the result in vector result. More...

virtual void	opAddM (linearalgebra::BaseMatrix *m, double fact) const
	Subtract the matrix to the m matrix and strore the result in m. More...

virtual void	opAddMT (linearalgebra::BaseMatrix *m, double fact) const
	Subtract the transposed matrix to the m matrix and strore the result in m. More...

virtual ElementType	getElementType () const

virtual std::size_t	getElementSize () const

virtual MatrixCategory	getCategory () const

virtual Index	getBlockRows () const

virtual Index	getBlockCols () const

virtual Index	bRowSize () const

virtual Index	bColSize () const

virtual Index	getBandWidth () const

bool	isDiagonal () const

bool	isBlockDiagonal () const

bool	isBand () const

bool	isSparse () const

virtual BlockConstAccessor	blocGet (Index i, Index j) const
	Get read access to a block. More...

virtual BlockAccessor	blocGetW (Index i, Index j)
	Get write access to a block. More...

virtual BlockAccessor	blocCreate (Index i, Index j)
	Get write access to a block, possibly creating it. More...

template<class T >
const T *	blocElements (Index i, Index j, T *buffer) const
	Shortcut for blocGet(i,j).elements(buffer) More...

template<class T >
void	blocSet (Index i, Index j, const T *buffer)
	Shortcut for blocCreate(i,j).set(buffer) More...

template<class T >
void	blocAdd (Index i, Index j, const T *buffer)
	Shortcut for blocCreate(i,j).add(buffer) More...

virtual ColBlockConstIterator	bRowBegin (Index ib) const
	Get the iterator corresponding to the beginning of the given row of blocks. More...

virtual ColBlockConstIterator	bRowEnd (Index ib) const
	Get the iterator corresponding to the end of the given row of blocks. More...

virtual std::pair< ColBlockConstIterator, ColBlockConstIterator >	bRowRange (Index ib) const
	Get the iterators corresponding to the beginning and end of the given row of blocks. More...

virtual RowBlockConstIterator	bRowsBegin () const
	Get the iterator corresponding to the beginning of the rows of blocks. More...

virtual RowBlockConstIterator	bRowsEnd () const
	Get the iterator corresponding to the end of the rows of blocks. More...

virtual std::pair< RowBlockConstIterator, RowBlockConstIterator >	bRowsRange () const
	Get the iterators corresponding to the beginning and end of the given row of blocks. More...

Static Public Member Functions
static const char *	Name ()

Protected Member Functions
template<typename real2 >
void	rotateSparseMatrix (linearalgebra::BaseMatrix result, const SparseMatrix< real2 > Jmat)

Protected Member Functions inherited from sofa::linearalgebra::BaseMatrix
virtual void	bAccessorDelete (const InternalBlockAccessor *) const

virtual void	bAccessorCopy (InternalBlockAccessor *) const

virtual SReal	bAccessorElement (const InternalBlockAccessor *b, Index i, Index j) const

virtual void	bAccessorSet (InternalBlockAccessor *b, Index i, Index j, double v)

virtual void	bAccessorAdd (InternalBlockAccessor *b, Index i, Index j, double v)

template<class T >
const T *	bAccessorElementsDefaultImpl (const InternalBlockAccessor b, T buffer) const

virtual const float *	bAccessorElements (const InternalBlockAccessor b, float buffer) const

virtual const double *	bAccessorElements (const InternalBlockAccessor b, double buffer) const

virtual const int *	bAccessorElements (const InternalBlockAccessor b, int buffer) const

template<class T >
void	bAccessorSetDefaultImpl (InternalBlockAccessor b, const T buffer)

virtual void	bAccessorSet (InternalBlockAccessor b, const float buffer)

virtual void	bAccessorSet (InternalBlockAccessor b, const double buffer)

virtual void	bAccessorSet (InternalBlockAccessor b, const int buffer)

template<class T >
void	bAccessorAddDefaultImpl (InternalBlockAccessor b, const T buffer)

virtual void	bAccessorAdd (InternalBlockAccessor b, const float buffer)

virtual void	bAccessorAdd (InternalBlockAccessor b, const double buffer)

virtual void	bAccessorAdd (InternalBlockAccessor b, const int buffer)

template<class T >
T *	bAccessorPrepareAddDefaultImpl (InternalBlockAccessor , T buffer)

virtual float *	bAccessorPrepareAdd (InternalBlockAccessor b, float buffer)

virtual double *	bAccessorPrepareAdd (InternalBlockAccessor b, double buffer)

virtual int *	bAccessorPrepareAdd (InternalBlockAccessor b, int buffer)

virtual void	bAccessorFinishAdd (InternalBlockAccessor b, const float buffer)

virtual void	bAccessorFinishAdd (InternalBlockAccessor b, const double buffer)

virtual void	bAccessorFinishAdd (InternalBlockAccessor b, const int buffer)

BlockAccessor	createBlockAccessor (Index row, Index col, void *internalPtr=nullptr)

BlockAccessor	createBlockAccessor (Index row, Index col, Index internalData)

BlockConstAccessor	createBlockConstAccessor (Index row, Index col, void *internalPtr=nullptr) const

BlockConstAccessor	createBlockConstAccessor (Index row, Index col, Index internalData) const

void	setMatrix (BlockAccessor *b)

void	setMatrix (BlockConstAccessor *b) const

virtual void	itCopyColBlock (InternalColBlockIterator *) const

virtual void	itDeleteColBlock (const InternalColBlockIterator *) const

virtual void	itAccessColBlock (InternalColBlockIterator it, BlockConstAccessor b) const

virtual void	itIncColBlock (InternalColBlockIterator *it) const

virtual void	itDecColBlock (InternalColBlockIterator *it) const

virtual bool	itEqColBlock (const InternalColBlockIterator it, const InternalColBlockIterator it2) const

virtual bool	itLessColBlock (const InternalColBlockIterator it, const InternalColBlockIterator it2) const

ColBlockConstIterator	createColBlockConstIterator (Index row, void *internalPtr) const

ColBlockConstIterator	createColBlockConstIterator (Index row, Index internalData) const

virtual void	itCopyRowBlock (InternalRowBlockIterator *) const

virtual void	itDeleteRowBlock (const InternalRowBlockIterator *) const

virtual Index	itAccessRowBlock (InternalRowBlockIterator *it) const

virtual ColBlockConstIterator	itBeginRowBlock (InternalRowBlockIterator *it) const

virtual ColBlockConstIterator	itEndRowBlock (InternalRowBlockIterator *it) const

virtual std::pair< ColBlockConstIterator, ColBlockConstIterator >	itRangeRowBlock (InternalRowBlockIterator *it) const

virtual void	itIncRowBlock (InternalRowBlockIterator *it) const

virtual void	itDecRowBlock (InternalRowBlockIterator *it) const

virtual bool	itEqRowBlock (const InternalRowBlockIterator it, const InternalRowBlockIterator it2) const

virtual bool	itLessRowBlock (const InternalRowBlockIterator it, const InternalRowBlockIterator it2) const

RowBlockConstIterator	createRowBlockConstIterator (void *internalPtr) const

RowBlockConstIterator	createRowBlockConstIterator (Index internalData0, Index internalData1) const

Friends
std::ostream &	operator (std::ostream &out, const RotationMatrix< Real > &v)

Additional Inherited Members
Static Protected Member Functions inherited from sofa::linearalgebra::BaseMatrix
static InternalBlockAccessor *	getInternal (BlockConstAccessor *b)

static const InternalBlockAccessor *	getInternal (const BlockConstAccessor *b)

static InternalBlockAccessor *	getInternal (BlockAccessor *b)

static const InternalBlockAccessor *	getInternal (const BlockAccessor *b)

static InternalColBlockIterator *	getInternal (ColBlockConstIterator *b)

static const InternalColBlockIterator *	getInternal (const ColBlockConstIterator *b)

static InternalRowBlockIterator *	getInternal (RowBlockConstIterator *b)

static const InternalRowBlockIterator *	getInternal (const RowBlockConstIterator *b)

Attribute details

◆ data

template<class TReal >

type::vector<Real> sofa::linearalgebra::RotationMatrix< TReal >::data

protected