us.ihmc.utilities.math
Class MatrixTools

java.lang.Object
  extended by us.ihmc.utilities.math.MatrixTools

public class MatrixTools
extends java.lang.Object


Field Summary
static javax.vecmath.Matrix3d IDENTITY
           
 
Constructor Summary
MatrixTools()
           
 
Method Summary
static void addDiagonal(org.ejml.data.DenseMatrix64F matrix, double scalar)
           
static void addMatrixBlock(org.ejml.data.DenseMatrix64F dest, int destStartRow, int destStartColumn, org.ejml.data.DenseMatrix64F src, int srcStartRow, int srcStartColumn, int numberOfRows, int numberOfColumns, double scale)
          Adds to a block of a matrix
static void addMatrixBlock(com.mathworks.jama.Matrix dest, int destStartRow, int destStartColumn, com.mathworks.jama.Matrix source, int sourceStartRow, int sourceStartColumn, int numberOfRows, int numberOfColumns, double scale)
          Adds to a block of a matrix
static boolean compare(com.mathworks.jama.Matrix A, com.mathworks.jama.Matrix B, double delta)
          Compares to matrices
static
<T> int
computeIndicesIntoVector(java.util.List<T> keys, java.util.Map<T,java.lang.Integer> indices, java.util.Map<T,java.lang.Integer> sizes)
           
static void convertEJMLToJama(org.ejml.data.DenseMatrix64F ejmlMatrix, com.mathworks.jama.Matrix jamaMatrixToPack)
           
static void convertJamaToEJML(com.mathworks.jama.Matrix jamaMatrix, org.ejml.data.DenseMatrix64F ejmlMatrixToPack)
           
static int denseMatrixToArrayColumnMajor(org.ejml.data.DenseMatrix64F src, double[] dest)
           
static int denseMatrixToArrayColumnMajor(org.ejml.data.DenseMatrix64F src, int srcStartRow, int srcStartCol, int numRows, int numCols, double[] dest, int destStartIndex)
           
static void denseMatrixToMatrix3d(org.ejml.data.DenseMatrix64F denseMatrix, javax.vecmath.Matrix3d matrixToPack, int startRow, int startColumn)
           
static java.lang.String denseMatrixToString(org.ejml.data.DenseMatrix64F mat)
           
static void denseMatrixToVector3d(org.ejml.data.DenseMatrix64F denseMatrix, javax.vecmath.Tuple3d vectorToPack, int startRow, int startColumn)
           
static void diff(org.ejml.data.DenseMatrix64F vectorToDiff, int startRow, int numberOfRows, org.ejml.data.DenseMatrix64F vectorToPack)
          Differentiates a row vector by subtracting the previous element from the current element
static void diff(double[] vectorToDiff, org.ejml.data.DenseMatrix64F vectorToPack)
          Differentiates an array by subtracting the previous element from the current element
static void diff(double[] vectorToDiff, com.mathworks.jama.Matrix vectorToPack)
          Differentiates an array by subtracting the previous element from the current element
static void diff(com.mathworks.jama.Matrix vectorToDiff, int startRow, int numberOfRows, com.mathworks.jama.Matrix vectorToPack)
          Differentiates a row vector by subtracting the previous element from the current element
static void diff(com.mathworks.jama.Matrix vectorToDiff, com.mathworks.jama.Matrix vectorToPack)
          Differentiates a row vector by subtracting the previous element from the current element
static void extractColumns(org.ejml.data.DenseMatrix64F source, int[] srcColumns, org.ejml.data.DenseMatrix64F dest, int destStartColumn)
           
static void extractDiagonal(org.ejml.data.DenseMatrix64F matrix, double[] diagonal)
           
static void extractTuple3dFromEJMLVector(javax.vecmath.Tuple3d tuple3d, org.ejml.data.DenseMatrix64F ejmlVector, int startIndex)
           
static void extractTuple3dFromEJMLVector(javax.vecmath.Tuple3d tuple3d, org.ejml.data.DenseMatrix64F ejmlVector, int[] indices)
           
static
<RowKeyType>
void
extractVectorBlock(org.ejml.data.DenseMatrix64F vectorBlockToPack, org.ejml.data.DenseMatrix64F bigVector, RowKeyType rowKey, java.util.Map<? super RowKeyType,java.lang.Integer> rowStartIndices, java.util.Map<? super RowKeyType,java.lang.Integer> sizes)
           
static org.ejml.data.DenseMatrix64F flipUpDown(org.ejml.data.DenseMatrix64F matrix)
           
static com.mathworks.jama.Matrix flipUpDown(com.mathworks.jama.Matrix matrix)
           
static void getMatrixBlock(org.ejml.data.DenseMatrix64F matrixToPack, org.ejml.data.DenseMatrix64F input, int[] rows, int[] columns)
          Sets matrixToPack to the entries of input in the specified rows and columns
static void getMatrixBlock(com.mathworks.jama.Matrix matrixToPack, com.mathworks.jama.Matrix input, int[] rows, int[] columns)
          Sets matrixToPack to the entries of input in the specified rows and columns
static
<RowKeyType,ColumnKeyType>
void
insertMatrixBlock(org.ejml.data.DenseMatrix64F bigMatrix, org.ejml.data.DenseMatrix64F matrixBlock, RowKeyType rowKey, java.util.Map<? super RowKeyType,java.lang.Integer> rowStartIndices, ColumnKeyType columnKey, java.util.Map<? super ColumnKeyType,java.lang.Integer> columnStartIndices)
           
static void insertTuple3dIntoEJMLVector(javax.vecmath.Tuple3d tuple3d, org.ejml.data.DenseMatrix64F ejmlVector, int startIndex)
           
static void insertTuple3dIntoEJMLVector(javax.vecmath.Tuple3d tuple3d, org.ejml.data.DenseMatrix64F ejmlVector, int[] indices)
           
static
<RowKeyType>
void
insertVectorBlock(org.ejml.data.DenseMatrix64F bigVector, org.ejml.data.DenseMatrix64F vectorBlock, RowKeyType rowKey, java.util.Map<? super RowKeyType,java.lang.Integer> startIndices)
           
static boolean isIdentity(javax.vecmath.Matrix3d matrix3d, double tolerance)
           
static void linspace(double[] vector, double d1, double d2, int n)
           
static double[] linspace(double d1, double d2, int n)
           
static javax.media.j3d.Transform3D loadTransform(java.io.BufferedReader bufferedReader)
           
static void matrix3DToDenseMatrix(javax.vecmath.Matrix3d matrix, org.ejml.data.DenseMatrix64F denseMatrixToPack, int startRow, int startColumn)
           
static javax.vecmath.Vector3d matrixToVector3d(com.mathworks.jama.Matrix M)
           
static org.ejml.data.DenseMatrix64F mult(org.ejml.data.DenseMatrix64F A, org.ejml.data.DenseMatrix64F B)
           
static void multOuter(javax.vecmath.Matrix3d result, javax.vecmath.Vector3d vector)
           
static void numericallyDifferentiate(org.ejml.data.DenseMatrix64F derivativeToPack, org.ejml.data.DenseMatrix64F previousMatrixToUpdate, org.ejml.data.DenseMatrix64F newMatrix, double dt)
           
static void numericallyDifferentiate(com.mathworks.jama.Matrix derivativeToPack, com.mathworks.jama.Matrix previousMatrixToUpdate, com.mathworks.jama.Matrix newMatrix, double dt)
           
static com.mathworks.jama.Matrix pseudoinverse(com.mathworks.jama.Matrix M)
          Returns the Moore-Penrose pseudoinverse of the matrix M
static void saveTransform(javax.media.j3d.Transform3D transform3D, java.io.PrintWriter printWriter)
           
static void set(com.mathworks.jama.Matrix destination, com.mathworks.jama.Matrix source)
           
static void setDenseMatrixFromMatrix3d(int startRow, int startColumn, javax.vecmath.Matrix3d fromMatrix3d, org.ejml.data.DenseMatrix64F denseMatrix)
           
static void setDenseMatrixFromTuple3d(org.ejml.data.DenseMatrix64F matrixToPack, javax.vecmath.Tuple3d tuple, int startRow, int startColumn)
           
static void setJamaMatrixFromMatrix3d(int startRow, int startColumn, javax.vecmath.Matrix3d fromMatrix3d, com.mathworks.jama.Matrix toJamaMatrix)
           
static void setMatrixBlock(org.ejml.data.DenseMatrix64F dest, int destStartRow, int destStartColumn, org.ejml.data.DenseMatrix64F src, int srcStartRow, int srcStartColumn, int numberOfRows, int numberOfColumns, double scale)
          Sets a block of a matrix
static void setMatrixBlock(com.mathworks.jama.Matrix dest, int destStartRow, int destStartColumn, com.mathworks.jama.Matrix src, int srcStartRow, int srcStartColumn, int numberOfRows, int numberOfColumns, double scale)
          Sets a block of a matrix
static void setMatrixColumnFromArray(org.ejml.data.DenseMatrix64F matrix, int column, double[] columnValues)
          Set a column of a Matrix to an Array
static void setMatrixColumnFromArray(org.ejml.data.DenseMatrix64F matrix, int column, double[] columnValues, int startRow)
          Set a column of a Matrix to an Array
static void setMatrixColumnFromArray(com.mathworks.jama.Matrix matrix, int column, double[] columnValues)
          Set a column of a Matrix to an Array
static void setMatrixColumnToVector(int columnIndex, org.ejml.data.DenseMatrix64F Matrix, org.ejml.data.DenseMatrix64F vector)
           
static void setMatrixDiag(javax.vecmath.Matrix3d matrix, double[] diagValues)
          Set diagonal elements of matrix to diagValues
static void setMatrixFromOneBasedArray(org.ejml.data.DenseMatrix64F ret, double[] oneBasedArray)
           
static void setMatrixFromOneBasedArray(com.mathworks.jama.Matrix ret, double[] oneBasedArray)
           
static void setMatrixRowToVector(int rowIndex, org.ejml.data.DenseMatrix64F Matrix, org.ejml.data.DenseMatrix64F vector)
           
static void setOneBasedArrayFromMatrix(double[] oneBasedArrayToPack, org.ejml.data.DenseMatrix64F matrix)
           
static void setTildeTimesTilde(javax.vecmath.Matrix3d M, javax.vecmath.Tuple3d a, javax.vecmath.Tuple3d b)
           
static void setToNaN(org.ejml.data.DenseMatrix64F matrix)
           
static void setToNaN(com.mathworks.jama.Matrix matrix)
          Sets all the entries of a matrix to NaN
static void setToZero(org.ejml.data.DenseMatrix64F matrix)
           
static void setToZero(com.mathworks.jama.Matrix matrix)
          Sets all entries of a matrix to zero
static void times(com.mathworks.jama.Matrix A, com.mathworks.jama.Matrix B, com.mathworks.jama.Matrix resultToPack)
          Linear algebraic matrix multiplication, A * B
static com.mathworks.jama.Matrix toMatrix(javax.vecmath.Matrix3d matrix3d)
          Copies a javax.vecmath.Matrix3d into a com.mathworks.jama.Matrix
static void toTildeForm(javax.vecmath.Matrix3d matrixToPack, javax.vecmath.Tuple3d p)
          Converts a vector to tilde form (matrix implementation of cross product)
static javax.vecmath.Matrix3d toTildeForm(javax.vecmath.Tuple3d p)
          Converts a vector to tilde form (matrix implementation of cross product)
static void transformColumnVectorIntoFramePoint2d(org.ejml.data.DenseMatrix64F matrix, FramePoint2d framePoint)
           
static void transformColumnVectorIntoFrameVector2d(org.ejml.data.DenseMatrix64F matrix, FrameVector2d frameVector)
           
static void transformFramePoint2dIntoColumnVector(org.ejml.data.DenseMatrix64F matrix, FramePoint2d framePoint)
           
static void transformFramePoint2dIntoRowVector(org.ejml.data.DenseMatrix64F matrix, FramePoint2d framePoint)
           
static void transformFrameVector2dIntoColumnVector(org.ejml.data.DenseMatrix64F matrix, FrameVector2d frameVector)
           
static void transformFrameVector2dIntoRowVector(org.ejml.data.DenseMatrix64F matrix, FrameVector2d frameVector)
           
static void transformRowVectorIntoFramePoint2d(org.ejml.data.DenseMatrix64F matrix, FramePoint2d framePoint)
           
static void transformRowVectorIntoFrameVector2d(org.ejml.data.DenseMatrix64F matrix, FrameVector2d frameVector)
           
static void tuple3dToArray(javax.vecmath.Tuple3d tuple, double[] dest, int startIndex)
           
static com.mathworks.jama.Matrix vector3dToMatrix(javax.vecmath.Vector3d p)
           
static javax.vecmath.Matrix3d vectorTimesVectorTranspose(javax.vecmath.Vector3d vector)
          Returns the resulting matrix from vector*transpose(vector)
static javax.vecmath.Matrix3d vectorTimesVectorTranspose(javax.vecmath.Vector3d vector1, javax.vecmath.Vector3d vector2)
          Returns the resulting matrix from vector1*transpose(vector2)
static void vectorToSkewSymmetricMatrix(org.ejml.data.DenseMatrix64F matrixToPack, javax.vecmath.Tuple3d tuple)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

IDENTITY

public static final javax.vecmath.Matrix3d IDENTITY
Constructor Detail

MatrixTools

public MatrixTools()
Method Detail

setToNaN

public static void setToNaN(com.mathworks.jama.Matrix matrix)
Sets all the entries of a matrix to NaN

Parameters:
matrix -

setToNaN

public static void setToNaN(org.ejml.data.DenseMatrix64F matrix)

setToZero

public static void setToZero(com.mathworks.jama.Matrix matrix)
Sets all entries of a matrix to zero

Parameters:
matrix -

setToZero

public static void setToZero(org.ejml.data.DenseMatrix64F matrix)

setMatrixColumnFromArray

public static void setMatrixColumnFromArray(com.mathworks.jama.Matrix matrix,
                                            int column,
                                            double[] columnValues)
Set a column of a Matrix to an Array

Parameters:
matrix - Matrix to set
column - Column
columnValues -

setMatrixColumnFromArray

public static void setMatrixColumnFromArray(org.ejml.data.DenseMatrix64F matrix,
                                            int column,
                                            double[] columnValues)
Set a column of a Matrix to an Array

Parameters:
matrix - Matrix to set
column - Column
columnValues -

setMatrixColumnFromArray

public static void setMatrixColumnFromArray(org.ejml.data.DenseMatrix64F matrix,
                                            int column,
                                            double[] columnValues,
                                            int startRow)
Set a column of a Matrix to an Array

Parameters:
matrix - Matrix to set
column - Column
columnValues -

setMatrixFromOneBasedArray

public static void setMatrixFromOneBasedArray(com.mathworks.jama.Matrix ret,
                                              double[] oneBasedArray)

setMatrixFromOneBasedArray

public static void setMatrixFromOneBasedArray(org.ejml.data.DenseMatrix64F ret,
                                              double[] oneBasedArray)

setOneBasedArrayFromMatrix

public static void setOneBasedArrayFromMatrix(double[] oneBasedArrayToPack,
                                              org.ejml.data.DenseMatrix64F matrix)

diff

public static void diff(com.mathworks.jama.Matrix vectorToDiff,
                        int startRow,
                        int numberOfRows,
                        com.mathworks.jama.Matrix vectorToPack)
Differentiates a row vector by subtracting the previous element from the current element

Parameters:
vectorToDiff - Row vector
startRow - Row to start at
numberOfRows - Rows to differentiate
vectorToPack - Result row vector

diff

public static void diff(org.ejml.data.DenseMatrix64F vectorToDiff,
                        int startRow,
                        int numberOfRows,
                        org.ejml.data.DenseMatrix64F vectorToPack)
Differentiates a row vector by subtracting the previous element from the current element

Parameters:
vectorToDiff - Row vector
startRow - Row to start at
numberOfRows - Rows to differentiate
vectorToPack - Result row vector

diff

public static void diff(com.mathworks.jama.Matrix vectorToDiff,
                        com.mathworks.jama.Matrix vectorToPack)
Differentiates a row vector by subtracting the previous element from the current element

Parameters:
vectorToDiff - Row vector
vectorToPack - Result row vector

diff

public static void diff(double[] vectorToDiff,
                        com.mathworks.jama.Matrix vectorToPack)
Differentiates an array by subtracting the previous element from the current element

Parameters:
vectorToDiff -
vectorToPack - Result row vector

diff

public static void diff(double[] vectorToDiff,
                        org.ejml.data.DenseMatrix64F vectorToPack)
Differentiates an array by subtracting the previous element from the current element

Parameters:
vectorToDiff -
vectorToPack - Result row vector

numericallyDifferentiate

public static void numericallyDifferentiate(com.mathworks.jama.Matrix derivativeToPack,
                                            com.mathworks.jama.Matrix previousMatrixToUpdate,
                                            com.mathworks.jama.Matrix newMatrix,
                                            double dt)

numericallyDifferentiate

public static void numericallyDifferentiate(org.ejml.data.DenseMatrix64F derivativeToPack,
                                            org.ejml.data.DenseMatrix64F previousMatrixToUpdate,
                                            org.ejml.data.DenseMatrix64F newMatrix,
                                            double dt)

setMatrixBlock

public static void setMatrixBlock(com.mathworks.jama.Matrix dest,
                                  int destStartRow,
                                  int destStartColumn,
                                  com.mathworks.jama.Matrix src,
                                  int srcStartRow,
                                  int srcStartColumn,
                                  int numberOfRows,
                                  int numberOfColumns,
                                  double scale)
Sets a block of a matrix

Parameters:
dest - Set a block of this matrix
destStartRow - Row index of the top left corner of the block to set
destStartColumn - Column index of the top left corner of the block to set
src - Get a block of this matrix
srcStartRow - Row index of the top left corner of the block to use from otherMatrix
srcStartColumn - Column index of the top left corner of the block to use from otherMatrix
numberOfRows - Row size of the block
numberOfColumns - Column size of the block
scale - Scale the block from otherMatrix by this value

setMatrixBlock

public static void setMatrixBlock(org.ejml.data.DenseMatrix64F dest,
                                  int destStartRow,
                                  int destStartColumn,
                                  org.ejml.data.DenseMatrix64F src,
                                  int srcStartRow,
                                  int srcStartColumn,
                                  int numberOfRows,
                                  int numberOfColumns,
                                  double scale)
Sets a block of a matrix

Parameters:
dest - Set a block of this matrix
destStartRow - Row index of the top left corner of the block to set
destStartColumn - Column index of the top left corner of the block to set
src - Get a block of this matrix
srcStartRow - Row index of the top left corner of the block to use from otherMatrix
srcStartColumn - Column index of the top left corner of the block to use from otherMatrix
numberOfRows - Row size of the block
numberOfColumns - Column size of the block
scale - Scale the block from otherMatrix by this value

getMatrixBlock

public static void getMatrixBlock(com.mathworks.jama.Matrix matrixToPack,
                                  com.mathworks.jama.Matrix input,
                                  int[] rows,
                                  int[] columns)
Sets matrixToPack to the entries of input in the specified rows and columns

Parameters:
matrixToPack - matrix to pack
input - input matrix
rows - rows of input matrix to use in setting matrix to pack
columns - columns of input matrix to use in setting matrix to pack

getMatrixBlock

public static void getMatrixBlock(org.ejml.data.DenseMatrix64F matrixToPack,
                                  org.ejml.data.DenseMatrix64F input,
                                  int[] rows,
                                  int[] columns)
Sets matrixToPack to the entries of input in the specified rows and columns

Parameters:
matrixToPack - matrix to pack
input - input matrix
rows - rows of input matrix to use in setting matrix to pack
columns - columns of input matrix to use in setting matrix to pack

addMatrixBlock

public static void addMatrixBlock(com.mathworks.jama.Matrix dest,
                                  int destStartRow,
                                  int destStartColumn,
                                  com.mathworks.jama.Matrix source,
                                  int sourceStartRow,
                                  int sourceStartColumn,
                                  int numberOfRows,
                                  int numberOfColumns,
                                  double scale)
Adds to a block of a matrix

Parameters:
dest - Add to a block of this matrix
destStartRow - Row index of the top left corner of the block to set
destStartColumn - Column index of the top left corner of the block to set
source - Get a block of this matrix
sourceStartRow - Row index of the top left corner of the block to use from otherMatrix
sourceStartColumn - Column index of the top left corner of the block to use from otherMatrix
numberOfRows - Row size of the block
numberOfColumns - Column size of the block
scale - Scale the block from otherMatrix by this value

addMatrixBlock

public static void addMatrixBlock(org.ejml.data.DenseMatrix64F dest,
                                  int destStartRow,
                                  int destStartColumn,
                                  org.ejml.data.DenseMatrix64F src,
                                  int srcStartRow,
                                  int srcStartColumn,
                                  int numberOfRows,
                                  int numberOfColumns,
                                  double scale)
Adds to a block of a matrix

Parameters:
dest - Add to a block of this matrix
destStartRow - Row index of the top left corner of the block to set
destStartColumn - Column index of the top left corner of the block to set
src - Get a block of this matrix
srcStartRow - Row index of the top left corner of the block to use from otherMatrix
srcStartColumn - Column index of the top left corner of the block to use from otherMatrix
numberOfRows - Row size of the block
numberOfColumns - Column size of the block
scale - Scale the block from otherMatrix by this value

extractColumns

public static void extractColumns(org.ejml.data.DenseMatrix64F source,
                                  int[] srcColumns,
                                  org.ejml.data.DenseMatrix64F dest,
                                  int destStartColumn)

times

public static void times(com.mathworks.jama.Matrix A,
                         com.mathworks.jama.Matrix B,
                         com.mathworks.jama.Matrix resultToPack)
Linear algebraic matrix multiplication, A * B

Parameters:
A - a matrix
B - another matrix
resultToPack - Matrix product, A * B
Throws:
java.lang.IllegalArgumentException - Matrix inner dimensions must agree.

compare

public static boolean compare(com.mathworks.jama.Matrix A,
                              com.mathworks.jama.Matrix B,
                              double delta)
Compares to matrices

Parameters:
A - A matrix
B - Another matrix
Returns:
false if not equal, true if equal

linspace

public static void linspace(double[] vector,
                            double d1,
                            double d2,
                            int n)

linspace

public static double[] linspace(double d1,
                                double d2,
                                int n)

set

public static void set(com.mathworks.jama.Matrix destination,
                       com.mathworks.jama.Matrix source)

flipUpDown

public static com.mathworks.jama.Matrix flipUpDown(com.mathworks.jama.Matrix matrix)

flipUpDown

public static org.ejml.data.DenseMatrix64F flipUpDown(org.ejml.data.DenseMatrix64F matrix)

convertJamaToEJML

public static void convertJamaToEJML(com.mathworks.jama.Matrix jamaMatrix,
                                     org.ejml.data.DenseMatrix64F ejmlMatrixToPack)

convertEJMLToJama

public static void convertEJMLToJama(org.ejml.data.DenseMatrix64F ejmlMatrix,
                                     com.mathworks.jama.Matrix jamaMatrixToPack)

denseMatrixToMatrix3d

public static void denseMatrixToMatrix3d(org.ejml.data.DenseMatrix64F denseMatrix,
                                         javax.vecmath.Matrix3d matrixToPack,
                                         int startRow,
                                         int startColumn)

matrix3DToDenseMatrix

public static void matrix3DToDenseMatrix(javax.vecmath.Matrix3d matrix,
                                         org.ejml.data.DenseMatrix64F denseMatrixToPack,
                                         int startRow,
                                         int startColumn)

denseMatrixToVector3d

public static void denseMatrixToVector3d(org.ejml.data.DenseMatrix64F denseMatrix,
                                         javax.vecmath.Tuple3d vectorToPack,
                                         int startRow,
                                         int startColumn)

mult

public static org.ejml.data.DenseMatrix64F mult(org.ejml.data.DenseMatrix64F A,
                                                org.ejml.data.DenseMatrix64F B)

addDiagonal

public static void addDiagonal(org.ejml.data.DenseMatrix64F matrix,
                               double scalar)

setMatrixDiag

public static void setMatrixDiag(javax.vecmath.Matrix3d matrix,
                                 double[] diagValues)
Set diagonal elements of matrix to diagValues

Parameters:
matrix -
diagValues -

vectorTimesVectorTranspose

public static javax.vecmath.Matrix3d vectorTimesVectorTranspose(javax.vecmath.Vector3d vector1,
                                                                javax.vecmath.Vector3d vector2)
Returns the resulting matrix from vector1*transpose(vector2)

Parameters:
vector1 -
vector2 -

vectorTimesVectorTranspose

public static javax.vecmath.Matrix3d vectorTimesVectorTranspose(javax.vecmath.Vector3d vector)
Returns the resulting matrix from vector*transpose(vector)

Parameters:
vector -

vectorToSkewSymmetricMatrix

public static void vectorToSkewSymmetricMatrix(org.ejml.data.DenseMatrix64F matrixToPack,
                                               javax.vecmath.Tuple3d tuple)

toTildeForm

public static void toTildeForm(javax.vecmath.Matrix3d matrixToPack,
                               javax.vecmath.Tuple3d p)
Converts a vector to tilde form (matrix implementation of cross product)


toTildeForm

public static javax.vecmath.Matrix3d toTildeForm(javax.vecmath.Tuple3d p)
Converts a vector to tilde form (matrix implementation of cross product)


setTildeTimesTilde

public static void setTildeTimesTilde(javax.vecmath.Matrix3d M,
                                      javax.vecmath.Tuple3d a,
                                      javax.vecmath.Tuple3d b)

setDenseMatrixFromMatrix3d

public static void setDenseMatrixFromMatrix3d(int startRow,
                                              int startColumn,
                                              javax.vecmath.Matrix3d fromMatrix3d,
                                              org.ejml.data.DenseMatrix64F denseMatrix)

setMatrixColumnToVector

public static void setMatrixColumnToVector(int columnIndex,
                                           org.ejml.data.DenseMatrix64F Matrix,
                                           org.ejml.data.DenseMatrix64F vector)

setMatrixRowToVector

public static void setMatrixRowToVector(int rowIndex,
                                        org.ejml.data.DenseMatrix64F Matrix,
                                        org.ejml.data.DenseMatrix64F vector)

transformFramePoint2dIntoColumnVector

public static void transformFramePoint2dIntoColumnVector(org.ejml.data.DenseMatrix64F matrix,
                                                         FramePoint2d framePoint)

transformColumnVectorIntoFramePoint2d

public static void transformColumnVectorIntoFramePoint2d(org.ejml.data.DenseMatrix64F matrix,
                                                         FramePoint2d framePoint)

transformFrameVector2dIntoColumnVector

public static void transformFrameVector2dIntoColumnVector(org.ejml.data.DenseMatrix64F matrix,
                                                          FrameVector2d frameVector)

transformColumnVectorIntoFrameVector2d

public static void transformColumnVectorIntoFrameVector2d(org.ejml.data.DenseMatrix64F matrix,
                                                          FrameVector2d frameVector)

transformFramePoint2dIntoRowVector

public static void transformFramePoint2dIntoRowVector(org.ejml.data.DenseMatrix64F matrix,
                                                      FramePoint2d framePoint)

transformRowVectorIntoFramePoint2d

public static void transformRowVectorIntoFramePoint2d(org.ejml.data.DenseMatrix64F matrix,
                                                      FramePoint2d framePoint)

transformFrameVector2dIntoRowVector

public static void transformFrameVector2dIntoRowVector(org.ejml.data.DenseMatrix64F matrix,
                                                       FrameVector2d frameVector)

transformRowVectorIntoFrameVector2d

public static void transformRowVectorIntoFrameVector2d(org.ejml.data.DenseMatrix64F matrix,
                                                       FrameVector2d frameVector)

setDenseMatrixFromTuple3d

public static void setDenseMatrixFromTuple3d(org.ejml.data.DenseMatrix64F matrixToPack,
                                             javax.vecmath.Tuple3d tuple,
                                             int startRow,
                                             int startColumn)

setJamaMatrixFromMatrix3d

public static void setJamaMatrixFromMatrix3d(int startRow,
                                             int startColumn,
                                             javax.vecmath.Matrix3d fromMatrix3d,
                                             com.mathworks.jama.Matrix toJamaMatrix)

matrixToVector3d

public static javax.vecmath.Vector3d matrixToVector3d(com.mathworks.jama.Matrix M)

vector3dToMatrix

public static com.mathworks.jama.Matrix vector3dToMatrix(javax.vecmath.Vector3d p)

pseudoinverse

public static com.mathworks.jama.Matrix pseudoinverse(com.mathworks.jama.Matrix M)
Returns the Moore-Penrose pseudoinverse of the matrix M


toMatrix

public static com.mathworks.jama.Matrix toMatrix(javax.vecmath.Matrix3d matrix3d)
Copies a javax.vecmath.Matrix3d into a com.mathworks.jama.Matrix


saveTransform

public static void saveTransform(javax.media.j3d.Transform3D transform3D,
                                 java.io.PrintWriter printWriter)

loadTransform

public static javax.media.j3d.Transform3D loadTransform(java.io.BufferedReader bufferedReader)
                                                 throws java.io.IOException
Throws:
java.io.IOException

denseMatrixToArrayColumnMajor

public static int denseMatrixToArrayColumnMajor(org.ejml.data.DenseMatrix64F src,
                                                int srcStartRow,
                                                int srcStartCol,
                                                int numRows,
                                                int numCols,
                                                double[] dest,
                                                int destStartIndex)

extractDiagonal

public static void extractDiagonal(org.ejml.data.DenseMatrix64F matrix,
                                   double[] diagonal)

denseMatrixToArrayColumnMajor

public static int denseMatrixToArrayColumnMajor(org.ejml.data.DenseMatrix64F src,
                                                double[] dest)

tuple3dToArray

public static void tuple3dToArray(javax.vecmath.Tuple3d tuple,
                                  double[] dest,
                                  int startIndex)

extractTuple3dFromEJMLVector

public static void extractTuple3dFromEJMLVector(javax.vecmath.Tuple3d tuple3d,
                                                org.ejml.data.DenseMatrix64F ejmlVector,
                                                int[] indices)

extractTuple3dFromEJMLVector

public static void extractTuple3dFromEJMLVector(javax.vecmath.Tuple3d tuple3d,
                                                org.ejml.data.DenseMatrix64F ejmlVector,
                                                int startIndex)

insertTuple3dIntoEJMLVector

public static void insertTuple3dIntoEJMLVector(javax.vecmath.Tuple3d tuple3d,
                                               org.ejml.data.DenseMatrix64F ejmlVector,
                                               int[] indices)

insertTuple3dIntoEJMLVector

public static void insertTuple3dIntoEJMLVector(javax.vecmath.Tuple3d tuple3d,
                                               org.ejml.data.DenseMatrix64F ejmlVector,
                                               int startIndex)

computeIndicesIntoVector

public static <T> int computeIndicesIntoVector(java.util.List<T> keys,
                                               java.util.Map<T,java.lang.Integer> indices,
                                               java.util.Map<T,java.lang.Integer> sizes)

insertMatrixBlock

public static <RowKeyType,ColumnKeyType> void insertMatrixBlock(org.ejml.data.DenseMatrix64F bigMatrix,
                                                                org.ejml.data.DenseMatrix64F matrixBlock,
                                                                RowKeyType rowKey,
                                                                java.util.Map<? super RowKeyType,java.lang.Integer> rowStartIndices,
                                                                ColumnKeyType columnKey,
                                                                java.util.Map<? super ColumnKeyType,java.lang.Integer> columnStartIndices)

insertVectorBlock

public static <RowKeyType> void insertVectorBlock(org.ejml.data.DenseMatrix64F bigVector,
                                                  org.ejml.data.DenseMatrix64F vectorBlock,
                                                  RowKeyType rowKey,
                                                  java.util.Map<? super RowKeyType,java.lang.Integer> startIndices)

extractVectorBlock

public static <RowKeyType> void extractVectorBlock(org.ejml.data.DenseMatrix64F vectorBlockToPack,
                                                   org.ejml.data.DenseMatrix64F bigVector,
                                                   RowKeyType rowKey,
                                                   java.util.Map<? super RowKeyType,java.lang.Integer> rowStartIndices,
                                                   java.util.Map<? super RowKeyType,java.lang.Integer> sizes)

isIdentity

public static boolean isIdentity(javax.vecmath.Matrix3d matrix3d,
                                 double tolerance)

denseMatrixToString

public static java.lang.String denseMatrixToString(org.ejml.data.DenseMatrix64F mat)

multOuter

public static void multOuter(javax.vecmath.Matrix3d result,
                             javax.vecmath.Vector3d vector)