Package javiergs.tulip.rtde

Class Matrix4

java.lang.Object

javiergs.tulip.rtde.Matrix4

public class Matrix4
extends Object

Constructor Summary

Constructors

Constructor	Description
Matrix4(double[][] m)

Method Summary

Modifier and Type	Method	Description
Matrix3x3	extractRotation()
double	get(int i, int i1)
static Matrix4	identity()
Matrix4	multiply(Matrix4 other)
static Matrix4	rotationX(double angle)
static Matrix4	rotationY(double angle)
static Matrix4	rotationZ(double angle)
static Matrix4	scale(double sx, double sy, double sz)
Vector3	transformPoint(Vector3 v)
static Matrix4	translation(double x, double y, double z)

Methods inherited from class java.lang.Object

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

Constructor Details

Matrix4

public Matrix4(double[][] m)

Method Details

identity

public static Matrix4 identity()

translation

public static Matrix4 translation(double x,
 double y,
 double z)

rotationX

public static Matrix4 rotationX(double angle)

rotationY

public static Matrix4 rotationY(double angle)

rotationZ

public static Matrix4 rotationZ(double angle)

multiply

public Matrix4 multiply(Matrix4 other)

transformPoint

public Vector3 transformPoint(Vector3 v)

scale

public static Matrix4 scale(double sx,
 double sy,
 double sz)

get

public double get(int i,
 int i1)

extractRotation

public Matrix3x3 extractRotation()