Struct Matrix3
3x3 matrix, typically used to describe a rotation.
Assembly: ABB.Robotics.Math.dll
Syntax
Constructors
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Matrix3(Matrix4)
Creates a 3x3 matrix from the upper-left part of a 4x4 matrix.
Corresponds to extracting the rotation part of a transformation matrix.
Declaration
public Matrix3(Matrix4 mat)
Parameters
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Matrix3(Vector3, Vector3, Vector3)
Creates a matrix from three column vectors.
Declaration
public Matrix3(Vector3 x0, Vector3 y0, Vector3 z0)
Parameters
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Matrix3(double, double, double, double, double, double, double, double, double)
Creates a matrix from elements row by row.
Declaration
public Matrix3(double e11, double e12, double e13, double e21, double e22, double e23, double e31, double e32, double e33)
Parameters
| Type |
Name |
Description |
| double |
e11 |
|
| double |
e12 |
|
| double |
e13 |
|
| double |
e21 |
|
| double |
e22 |
|
| double |
e23 |
|
| double |
e31 |
|
| double |
e32 |
|
| double |
e33 |
|
Fields
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Identity
Declaration
public static readonly Matrix3 Identity
Field Value
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x
Declaration
Field Value
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y
Declaration
Field Value
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z
Declaration
Field Value
Properties
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Elements
Returns an array of all elements in column-first order.
Declaration
public double[] Elements { get; }
Property Value
| Type |
Description |
| double[] |
|
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this[int]
Declaration
public Vector3 this[int index] { get; set; }
Parameters
| Type |
Name |
Description |
| int |
index |
|
Property Value
Methods
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AlmostEquals(Matrix3)
Comparison method for matrices with tolerance
Declaration
public bool AlmostEquals(Matrix3 rhs)
Parameters
| Type |
Name |
Description |
| Matrix3 |
rhs |
Matrix to compare with
|
Returns
| Type |
Description |
| bool |
true if equals within tolerance
|
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Clean()
Zeroes any values smaller than Globals.EPS.
Declaration
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Determinant()
Declaration
public double Determinant()
Returns
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Inverse()
Declaration
Returns
| Type |
Description |
| Matrix3 |
Inverted matrix
|
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Invert()
Inverts the matrix, using Cramer's rule.
Declaration
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Multiply(Matrix3)
Matrix-Matrix multiplication method.
Declaration
public Matrix3 Multiply(Matrix3 rhs)
Parameters
Returns
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Multiply(Vector3)
Matrix-Vector3 multiplication method.
Declaration
public Vector3 Multiply(Vector3 rhs)
Parameters
Returns
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ToString()
Returns a string in the format
[[x.x x.y x.z] [y.x y.y y.z] [z.x z.y z.z]]
Declaration
public override string ToString()
Returns
Overrides
System.ValueType.ToString()
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Returns a string in the format
[[x.x x.y x.z] [y.x y.y y.z] [z.x z.y z.z]]
Declaration
public string ToString(IFormatProvider formatProvider)
Parameters
| Type |
Name |
Description |
| IFormatProvider |
formatProvider |
|
Returns
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Transpose()
Declaration
Operators
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operator +(Matrix3, Matrix3)
Adds each element of the two Matrix3 values and returns the resulting Matrix3
Declaration
public static Matrix3 operator +(Matrix3 lhs, Matrix3 rhs)
Parameters
Returns
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operator *(Matrix3, Matrix3)
Matrix-Matrix multiplication operator.
Declaration
public static Matrix3 operator *(Matrix3 lhs, Matrix3 rhs)
Parameters
Returns
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operator *(Matrix3, Vector3)
Matrix-Vector3 multiplication operator.
Declaration
public static Vector3 operator *(Matrix3 lhs, Vector3 rhs)
Parameters
Returns
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operator *(Matrix3, double)
Multiples each element with the supplied value and returns the resulting Matrix3
Declaration
public static Matrix3 operator *(Matrix3 lhs, double rhs)
Parameters
| Type |
Name |
Description |
| Matrix3 |
lhs |
|
| double |
rhs |
|
Returns