| Matrix4 Structure |
4x4 matrix, typically used to describe a transformation
(rotation and translation).
Namespace: ABB.Robotics.Math
Assembly: ABB.Robotics.Math (in ABB.Robotics.Math.dll) Version: 7.0.8747.636
SyntaxC#
public struct Matrix4
The Matrix4 type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | Matrix4(Vector3) |
Creates a matrix with unit rotation and a specified translation.
|
| Matrix4(Double, Boolean) |
Creates a matrix from an array of 16 values.
|
| Matrix4(Matrix3, Vector3) |
Constructs a matrix from a 3x3 orientation matrix and a translation.
|
| Matrix4(Vector3, Quaternion) |
Creates a matrix from a translation vector and a quaternion.
|
| Matrix4(Vector3, Vector3) |
Creates a matrix from a translation vector and
Euler angles (zyx).
|
| Matrix4(Vector3, Double) |
Creates a matrix from a rotation axis and angle,
with unit translation.
|
| Matrix4(Vector3, Vector3, Vector3, Vector3) |
Creates an affine matrix from four vectors
|
| Matrix4(Vector4, Vector4, Vector4, Vector4) |
Creates a matrix from four column vectors.
|
Properties| Name | Description | |
|---|---|---|
 | AxisAngle |
Gets/sets the rotation as axis/angle
(represented by a 4-vector [axis,angle]).
|
| Elements |
Returns an array of all elements in column-first order.
|
| EulerXYZ |
Gets/sets the rotation as Euler angles (xyz order). |
| EulerZYX |
Gets/sets the rotation as Euler angles (zyx order). Note: the vector contains the angles as [rx,ry,rz]. |
| IsNaN |
Returns a value indicating whether any elements evaluates to a value that is not a number (NaN).
|
| Item |
Column vector access.
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| Quaternion |
Gets/sets the rotation as a quaternion.
|
| Translation |
Gets/sets the translation vector.
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| UpperLeft |
Gets/sets the rotation as a 3x3 matrix.
|
Methods| Name | Description | |
|---|---|---|
| AlmostEquals(Matrix4) |
Comparison method for matrices with default tolerance
|
| AlmostEquals(Matrix4, Double) |
Comparison method for matrices with tolerance
|
| CheckRigid |
Throws an exception if this matrix is not rigid.
|
| Clean |
Zeroes any values smaller than Globals.EPS.
|
| CleanRigid |
Ensures this is a valid rigid matrix
|
| Determinant |
Returns the determinant.
|
| Equals | (Inherited from ValueType.) |
 | FromAxis |
Returns a matrix with one given axis. The other two axes are arbitrarily
chosen to form a right-handed coordinate system.
|
| FromThreePoint |
Creates a matrix from three points.
|
| FromTwoAxes |
Creates a matrix from a translation and two axis vectors
|
| FromTwoPointXY |
Creates a matrix from a translation and two points
|
| FromTwoPointXZ |
Creates a matrix from a translation and two points
|
| GetAxisVector |
Gets the axis vector from the specified axis
|
| GetHashCode | (Inherited from ValueType.) |
| GetType | (Inherited from Object.) |
| Inverse |
Returns the inverse of a general matrix.
|
| InverseRigid |
Returns a an inverted copy of the matrix. If the matrix is non-rigid the result is undefined.
|
| Invert |
Inverts a general matrix, using Cramer's rule.
|
| InvertAffine |
Inverts an affine matrix.
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| InvertRigid |
Inverts a rigid (pure translation+rotation) matrix.
|
| IsAffine |
Returns true if the matrix is affine.
|
| IsEmpty |
Returns true if all elements in the matrix are zero.
|
| IsIdentity |
Returns true if the matrix is identity.
|
| IsRigid |
Returns true if this matrix is rigid (orthogonal),
e.g. it represents a pure rotation and translation.
|
| Multiply(Matrix4) |
Matrix-Matrix multiplication method.
|
| Multiply(Vector4) |
Matrix-Vector4 multiplication method.
|
| MultiplyPoint |
Matrix-Vector3 (interpreted as a point) multiplication.
|
| MultiplyVector |
Matrix-Vector3 (interpreted as a direction) multiplication.
|
| RelativeMatrix |
Returns a matrix representing the relative transform, between the two specified matrices.
|
| Rotate(Vector3, Double) |
Rotates the matrix around an axis through the origin.
|
| Rotate(Vector3, Vector3, Double) |
Rotates the matrix around an axis through a point.
|
| Scale(Double) |
Scale uniformly about origin.
|
| Scale(Vector3) |
Scale by vector about origin.
|
| Scale(Vector3, Vector3) |
Scale by vector about a point.
|
| ToString |
Returns a string in the format (Overrides ValueTypeToString.)[[x.x x.y x.z x.w] [y.x y.y y.z y.w] [z.x z.y z.z z.w] [t.x t.y t.z t.w]] |
| Translate(Vector3) |
Translates the matrix by a vector.
|
| Translate(Double, Double, Double) |
Translates the matrix by x,y,z.
|
| TranslateLocal(Vector3) |
Translates the matrix by a vector in its own coordinate system.
|
| TranslateLocal(Double, Double, Double) |
Translates the matrix by x,y,z in its own coordinate system.
|
| Transpose |
Transposes the matrix.
|
| TryParse |
Converts the string representation to its Matrix4 equivalent.
|
| WithEulerZYX |
Returns a new Matrix4 with the given Euler ZYX orientation
|
| WithTranslation |
Returns a new Matrix4 with the given translation
|
Operators| Name | Description | |
|---|---|---|
 | Multiply(Matrix4, Matrix4) |
Matrix-Matrix multiplication operator.
|
| Multiply(Matrix4, Vector4) |
Matrix-Vector4 multiplication operator.
|
Fields| Name | Description | |
|---|---|---|
 | Identity |
Identity matrix.
|
| t |
Column vector.
|
| x |
Column vector.
|
| y |
Column vector.
|
| z |
Column vector.
|
Version InformationSupported in: 1.0
See Also