Class JsMat3D

java.lang.Object
  JsMat3D

public class JsMat3D

extends java.lang.Object

Constructor Summary

JsMat3D(double[] Data)
Constructor

JsMat3D(double angle, double[] axis)
Calculate the 3x3 rotation matrix generated by a rotation of a specified angle about a specified axis.

JsMat3D(double x11, double x12, double x13, double x21, double x22, double x23, double x31, double x32, double x33)
Constructor

JsMat3D(double angle, int axis)
Calculate the 3x3 rotation matrix generated by a rotation of a specified angle about a specified axis.

JsMat3D(JsEulAngle eulAng)
Constructor

JsMat3D(JsQuat q)
Find the rotation matrix corresponding to a specified unit quaternion

JsMat3D(java.lang.String from, java.lang.String to, JsDate date)
Constructor the rotation matrix from one frame to another at a specified epoch ( call PXFORM)

Method Summary

double	det() Return the trace of a 3x3 matrix
double[]	getData() Constructor
JsMat3D	ident() This routine returns the 3x3 identity matrix
JsMat3D	invert() Generate the inverse of a 3x3 matrix
boolean	isRot(double ntol, double dtol) Indicate whether a 3x3 matrix is a rotation matrix
JsEulAngle	toEulAngle() Factor a rotation matrix as a product of three rotations about specified coordinate axes
JsQuat	toQuat() Find a unit quaternion corresponding to a specified rotation matrix.
double	trace() Return the trace of a 3x3 matrix
JsMat3D	txm(JsMat3D m2) Multiply the transpose of a 3x3 matrix and a 3x3 matrix
JsVect3D	txv(JsVect3D v) multiplies the transpose of a 3x3 matrix on the left with a vector on the right
JsMat3D	xm(JsMat3D m2) Multiply a 3x3 matrix and a 3x3 matrix
JsMat3D	xmt(JsMat3D m2) Multiply a 3x3 matrix and the transpose of a 3x3 matrix
JsMat3D	xpose() Transpose a 3x3 matrix
JsVect3D	xv(JsVect3D v) multipliesa 3x3 matrix on the left with a vector on the right

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

JsMat3D

public JsMat3D(double[] Data)

Constructor

JsMat3D

public JsMat3D(double x11,
               double x12,
               double x13,
               double x21,
               double x22,
               double x23,
               double x31,
               double x32,
               double x33)

Constructor

JsMat3D

public JsMat3D(JsEulAngle eulAng)

Constructor

JsMat3D

public JsMat3D(double angle,
               int axis)

Calculate the 3x3 rotation matrix generated by a rotation of a specified angle about a specified axis. This rotation is thought of as rotating the coordinate system

JsMat3D

public JsMat3D(double angle,
               double[] axis)

Calculate the 3x3 rotation matrix generated by a rotation of a specified angle about a specified axis. This rotation is thought of as rotating the coordinate system

JsMat3D

public JsMat3D(JsQuat q)

Find the rotation matrix corresponding to a specified unit quaternion

JsMat3D

public JsMat3D(java.lang.String from,
               java.lang.String to,
               JsDate date)
        throws java.lang.Exception

Constructor the rotation matrix from one frame to another at a specified epoch ( call PXFORM)

Method Detail

getData

public double[] getData()

Constructor

ident

public JsMat3D ident()
              throws java.lang.Exception

This routine returns the 3x3 identity matrix

Returns:

is the 3x3 Identity matrix. That is MATRIX is the following

_ _ | 1.0 0.0 0.0 |
| 0.0 1.0 0.0 |
| 0.0 0.0 1.0 |
- -

Throws:

java.lang.Exception

xpose

public JsMat3D xpose()
              throws java.lang.Exception

Transpose a 3x3 matrix

Returns:

This variable is a double precision, 3x3 matrix which contains the transpose of m1

Throws:

java.lang.Exception

txm

public JsMat3D txm(JsMat3D m2)
            throws java.lang.Exception

Multiply the transpose of a 3x3 matrix and a 3x3 matrix

Parameters:

m2 - is any 3x3 double precision matrix. Typically, m1 will be a rotation matrix since then its transpose is its inverse (but this is not a requirement).

Returns:

Throws:

java.lang.Exception

txv

public JsVect3D txv(JsVect3D v)
             throws java.lang.Exception

multiplies the transpose of a 3x3 matrix on the left with a vector on the right

Parameters:

v - is an arbitrary 3-dimensional double precision vector

Returns:

is a 3-dimensional double precision vector. vout is the product vout = (m1**t) x (vin).

Throws:

java.lang.Exception

xv

public JsVect3D xv(JsVect3D v)
            throws java.lang.Exception

multipliesa 3x3 matrix on the left with a vector on the right

Parameters:

v - is an arbitrary 3-dimensional double precision vector

Returns:

is a 3-dimensional double precision vector. vout is the product vout = m1 x (vin).

Throws:

java.lang.Exception

xm

public JsMat3D xm(JsMat3D m2)
           throws java.lang.Exception

Multiply a 3x3 matrix and a 3x3 matrix

Parameters:

m2 - is any 3x3 double precision matrix.

Returns:

Throws:

java.lang.Exception

xmt

public JsMat3D xmt(JsMat3D m2)
            throws java.lang.Exception

Multiply a 3x3 matrix and the transpose of a 3x3 matrix

Parameters:

m2 - is any 3x3 double precision matrix.

Returns:

Throws:

java.lang.Exception

trace

public double trace()
             throws java.lang.Exception

Return the trace of a 3x3 matrix

Returns:

is the trace of matrix, i.e. it is the sum of the diagonal elements of matrix

Throws:

java.lang.Exception

det

public double det()
           throws java.lang.Exception

Return the trace of a 3x3 matrix

Returns:

is the trace of matrix, i.e. it is the sum of the diagonal elements of matrix

Throws:

java.lang.Exception

isRot

public boolean isRot(double ntol,
                     double dtol)
              throws java.lang.Exception

Indicate whether a 3x3 matrix is a rotation matrix

Parameters:

ntol - Tolerance for the norms of the columns of m.

dtol - Tolerance for the determinant of a matrix whose columns are the unitized columns of m.

Returns:

This routine is an error checking "filter"; its purpose is to detect gross errors, such as uninitialized matrices. Matrices that do not pass the tests used by this routine hardly qualify as rotation matrices. The test criteria can be adjusted by varying the parameters ntol and dtol.

Throws:

java.lang.Exception

invert

public JsMat3D invert()
               throws java.lang.Exception

Generate the inverse of a 3x3 matrix

Returns:

is the inverse of m1 and is calculated explicitly using the matrix of cofactors. mout is set to be the zero matrix if m1 is singular

Throws:

java.lang.Exception

toEulAngle

public JsEulAngle toEulAngle()
                      throws java.lang.Exception

Factor a rotation matrix as a product of three rotations about specified coordinate axes

Returns:

Throws:

java.lang.Exception

toQuat

public JsQuat toQuat()
              throws java.lang.Exception

Find a unit quaternion corresponding to a specified rotation matrix.

Returns:

Throws:

java.lang.Exception