Classes | |
class | Angle |
This class implements simple computations on angles. More... | |
struct | Matrix3x3 |
Generic 3x3 matrix. More... | |
struct | Matrix4x4 |
Generic 4x4 matrix. More... | |
struct | Vector3D |
Generic 3d vector. More... | |
struct | Vector4D |
Generic 4D vector. More... | |
Variables | |
static const bool | AUTORESIZE = true |
static const bool | CHECKRESIZE = true |
This is a very fast and simple implementation of a 3D matrix class of double.
Copyright 2008, 2009, 2010, Olivier Stasse, Florent Lamiraux, Francois Keith, Eiichi Yoshida, CNRS/AIST
This file is part of jrl-mathtools. jrl-mathtools is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
jrl-mathtools is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with jrl-mathtools. If not, see http://www.gnu.org/licenses/.
References AUTORESIZE.
Referenced by dampedInverse().
References AUTORESIZE.
Referenced by dampedInverse(), and pseudoInverse().
References jrlMathTools::Angle::value().
matrixNxP jrlMathTools::dampedInverse | ( | const matrixNxP & | inMatrix, |
matrixNxP & | invMatrix, | ||
const double | threshold = 1e-6, | ||
matrixNxP * | Uref = 0, | ||
vectorN * | Sref = 0, | ||
matrixNxP * | Vref = 0 ) |
References _resize(), _resizeInv(), dgesvd_(), MRAWDATA, and VRAWDATA.
References M_PI.
Referenced by jrlMathTools::Angle::degree().
References jrlMathTools::Angle::display().
References jrlMathTools::Angle::value().
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inline |
References jrlMathTools::Matrix3x3< T >::display().
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inline |
References jrlMathTools::Matrix3x3< T >::display().
std::ostream & jrlMathTools::operator<< | ( | std::ostream & | os, |
const Vector3D< T > & | v ) |
References jrlMathTools::Matrix3x3< T >::display().
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inline |
References jrlMathTools::Matrix3x3< T >::display().
matrixNxP & jrlMathTools::pseudoInverse | ( | const matrixNxP & | matrix, |
matrixNxP & | outInverse, | ||
const double | threshold = 1e-6, | ||
matrixNxP * | Uref = 0, | ||
vectorN * | Sref = 0, | ||
matrixNxP * | Vref = 0 ) |
Compute the pseudo-inverse of the matrix.
By default, the function uses the dgesvd_ fortran routine. It should be provided by the host software.
References _resizeInv(), dgesvd_(), MRAWDATA, and VRAWDATA.
References M_PI.
Referenced by jrlMathTools::Angle::degree().
References jrlMathTools::Angle::value().
References jrlMathTools::Angle::value().
Referenced by _resize(), and _resizeInv().