| Matrix3 Structure |
3x3 matrix, typically used to describe a rotation.
Namespace: ABB.Robotics.Math
Assembly: ABB.Robotics.Math (in ABB.Robotics.Math.dll) Version: 7.0.8747.636
SyntaxC#
public struct Matrix3
The Matrix3 type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | 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. |
| Matrix3(Vector3, Vector3, Vector3) |
Creates a matrix from three column vectors.
|
| Matrix3(Double, Double, Double, Double, Double, Double, Double, Double, Double) |
Creates a matrix from elements row by row.
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Properties| Name | Description | |
|---|---|---|
 | Elements |
Returns an array of all elements in column-first order.
|
| Item |
Column vector access.
|
Methods| Name | Description | |
|---|---|---|
| AlmostEquals |
Comparison method for matrices with tolerance
|
| Clean |
Zeroes any values smaller than Globals.EPS.
|
| Determinant |
Returns the determinant.
|
| Equals | (Inherited from ValueType.) |
| GetHashCode | (Inherited from ValueType.) |
| GetType | (Inherited from Object.) |
| Inverse |
Returns the inverse.
|
| Invert |
Inverts the matrix, using Cramer's rule.
|
| Multiply(Matrix3) |
Matrix-Matrix multiplication method.
|
| Multiply(Vector3) |
Matrix-Vector3 multiplication method.
|
| ToString |
Returns a string in the format (Overrides ValueTypeToString.)[[x.x x.y x.z] [y.x y.y y.z] [z.x z.y z.z]] |
| Transpose |
Transposes the matrix.
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Operators| Name | Description | |
|---|---|---|
  | Addition |
Adds each element of the two Matrix3 values and returns the resulting Matrix3
|
| Multiply(Matrix3, Matrix3) |
Matrix-Matrix multiplication operator.
|
| Multiply(Matrix3, Vector3) |
Matrix-Vector3 multiplication operator.
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| Multiply(Matrix3, Double) |
Multiples each element with the supplied value and returns the resulting Matrix3
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Fields
Version InformationSupported in: 1.0
See Also