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Class SBDTypePhysicalMatrix66#

template <typename Quantity00, typename Quantity01, typename Quantity10, typename Quantity11>

ClassList > SBDTypePhysicalMatrix66

This template class is used to represent spatial matrices. More...

  • #include <SBDTypePhysicalMatrix66.hpp>

Public Attributes#

Type Name
SBDTypePhysicalMatrix33< Quantity00 > m00
The top left 3x3 matrix.
SBDTypePhysicalMatrix33< Quantity01 > m01
The top right 3x3 matrix.
SBDTypePhysicalMatrix33< Quantity10 > m10
The bottom left 3x3 matrix.
SBDTypePhysicalMatrix33< Quantity11 > m11
The bottom right 3x3 matrix.

Public Static Attributes#

Type Name
const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > identity
The identity physical matrix.
const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > zero
The zero physical matrix.

Public Functions#

Type Name
SBDTypePhysicalMatrix66 ()
he default constructor initializes all components to zero
SBDTypePhysicalMatrix66 (const SBDTypePhysicalMatrix33< Quantity00 > & mat00, const SBDTypePhysicalMatrix33< Quantity01 > & mat01, const SBDTypePhysicalMatrix33< Quantity10 > & mat10, const SBDTypePhysicalMatrix33< Quantity11 > & mat11)
Constructs a spatial matrix from four 3x3 matrices.
SBDTypePhysicalMatrix66 (const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & mat)
Copy constructor.
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > doubleSymmetricPart () const
Returns twice the symmetric part of the matrix.
SBDTypePhysicalVector6< Quantity00, Quantity10 > getE1 () const
Returns the first column of the spatial matrix.
SBDTypePhysicalVector6< Quantity00, Quantity10 > getE2 () const
Returns the second column of the spatial matrix.
SBDTypePhysicalVector6< Quantity00, Quantity10 > getE3 () const
Returns the third column of the spatial matrix.
SBDTypePhysicalVector6< Quantity01, Quantity11 > getE4 () const
Returns the fourth column of the spatial matrix.
SBDTypePhysicalVector6< Quantity01, Quantity11 > getE5 () const
Returns the fifth column of the spatial matrix.
SBDTypePhysicalVector6< Quantity01, Quantity11 > getE6 () const
Returns the sixth column of the spatial matrix.
SBDTypePhysicalMatrix66< SBQuantity::dimensionless, SBQuantity::dimensionless, SBQuantity::dimensionless, SBQuantity::dimensionless > getValue () const
Returns a dimensionless physical matrix whose components are equal to those of this physical matrix.
bool operator!= (const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & mat) const
Returns true if this spatial matrix is different from spatial matrix mat (component-wise)
SBDTypePhysicalVector6< typename SBQuantityProduct2< Quantity00, QuantityA >::Type, typename SBQuantityProduct2< Quantity10, QuantityA >::Type > operator* (const SBDTypePhysicalVector6< QuantityA, QuantityL > & v) const
Returns the product of this spatial matrix with the spatial vector v .
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > operator* (double d) const
Returns the product of this spatial matrix with double d .
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & operator*= (Quantity d) const
Multiplies this spatial matrix with physical quantity d .
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > operator+ (const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & mat) const
Returns the sum of the spatial matrix with the mat spatial matrix.
void operator+= (const SBDTypePhysicalMatrix66 & mat)
Adds the mat spatial matrix to this spatial matrix.
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > operator- (const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & mat) const
Returns the subtraction of the spatial matrix from the mat spatial matrix.
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > operator- () const
Returns the opposite of the spatial matrix.
void operator-= (const SBDTypePhysicalMatrix66 & mat)
Subtracts the mat spatial matrix from this spatial matrix.
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > operator/ (double d) const
Returns the division of this spatial matrix by double d .
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & operator/= (Quantity d) const
Divides this spatial matrix by physical quantity d .
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & operator= (const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & mat)
Copy assignment.
bool operator== (const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & mat) const
Returns true if this spatial matrix is equal to spatial matrix mat (component-wise)
void print () const
Prints the spatial matrix.
virtual void serialize (SBCSerializer * serializer, const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER) const
Serializes the matrix using the provided serializer .
void setIdentity ()
Sets the matrix to identity.
void setValue (const SBDTypePhysicalMatrix66< SBQuantity::dimensionless, SBQuantity::dimensionless, SBQuantity::dimensionless, SBQuantity::dimensionless > & u)
Sets the components of this physical matrix equal to those of the dimensionless physical matrix u .
void setZero ()
Sets the matrix to zero.
void symmetrize ()
Makes the matrix symmetric.
SBDTypePhysicalMatrix66< Quantity00, Quantity10, Quantity01, Quantity11 > transpose () const
Returns the transpose.
void transpose (SBDTypePhysicalMatrix66< Quantity00, Quantity10, Quantity01, Quantity11 > & result) const
Sets result to the transpose of the matrix.
virtual void unserialize (SBCSerializer * serializer, const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER)
Unserializes the matrix using the provided serializer .

Detailed Description#

Template parameters:

  • Quantity00 The quantity type of the top left 3x3 block
  • Quantity01 The quantity type of the top right 3x3 block
  • Quantity10 The quantity type of the bottom left 3x3 block
  • Quantity11 The quantity type of the bottom right 3x3 block

This template class represents spatial matrices, i.e. 6x6 matrices typically used to describe rigid or articulated inertias and inverse inertias. Spatial matrices are physical quantities, and thus use SAMSON's unit system. In a spatial matrix (e.g. an inertia matrix), the 3x3 blocks may have different units, so that spatial matrices are defined by four units, and the SBDTypePhysicalMatrix66 template class is parameterized by four types: Quantity00, Quantity01, Quantity10 and Quantity11.

Most of the time, developers of SAMSON Extensions do not have to use this template, but may directly use some predefined types, e.g. SBMatrix66 (dimensionless spatial matrix), SBInertia66 (spatial inertia) or SBInverseInertia66 (spatial inverse inertia).

Short name: SBPhysicalMatrix66

See also: SBDTypePhysicalMatrix33, SBDTypePhysicalVector6

See also: SAMSON's unit system

Public Attributes Documentation#

variable m00#

The top left 3x3 matrix. 

SBDTypePhysicalMatrix33<Quantity00> m00;

variable m01#

The top right 3x3 matrix. 

SBDTypePhysicalMatrix33<Quantity01> m01;

variable m10#

The bottom left 3x3 matrix. 

SBDTypePhysicalMatrix33<Quantity10> m10;

variable m11#

The bottom right 3x3 matrix. 

SBDTypePhysicalMatrix33<Quantity11> m11;

Public Static Attributes Documentation#

variable identity#

The identity physical matrix. 

SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > const identity;

variable zero#

The zero physical matrix. 

SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > const zero;

Public Functions Documentation#

function SBDTypePhysicalMatrix66 [1/3]#

he default constructor initializes all components to zero 

inline SBDTypePhysicalMatrix66::SBDTypePhysicalMatrix66 ()

function SBDTypePhysicalMatrix66 [2/3]#

Constructs a spatial matrix from four 3x3 matrices. 

inline SBDTypePhysicalMatrix66::SBDTypePhysicalMatrix66 (
    const SBDTypePhysicalMatrix33 < Quantity00 > & mat00,
    const SBDTypePhysicalMatrix33 < Quantity01 > & mat01,
    const SBDTypePhysicalMatrix33 < Quantity10 > & mat10,
    const SBDTypePhysicalMatrix33 < Quantity11 > & mat11
)

Parameters:

  • mat00 The top left 3x3 block
  • mat01 The top right 3x3 block
  • mat10 The bottom left 3x3 block
  • mat11 The bottom right 3x3 block

This constructor initializes a spatial matrix from four 3x3 matrices

function SBDTypePhysicalMatrix66 [3/3]#

Copy constructor. 

inline SBDTypePhysicalMatrix66::SBDTypePhysicalMatrix66 (
    const SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & mat
)

function doubleSymmetricPart#

Returns twice the symmetric part of the matrix. 

inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > SBDTypePhysicalMatrix66::doubleSymmetricPart () const

function getE1#

Returns the first column of the spatial matrix. 

inline SBDTypePhysicalVector6 < Quantity00, Quantity10 > SBDTypePhysicalMatrix66::getE1 () const

function getE2#

Returns the second column of the spatial matrix. 

inline SBDTypePhysicalVector6 < Quantity00, Quantity10 > SBDTypePhysicalMatrix66::getE2 () const

function getE3#

Returns the third column of the spatial matrix. 

inline SBDTypePhysicalVector6 < Quantity00, Quantity10 > SBDTypePhysicalMatrix66::getE3 () const

function getE4#

Returns the fourth column of the spatial matrix. 

inline SBDTypePhysicalVector6 < Quantity01, Quantity11 > SBDTypePhysicalMatrix66::getE4 () const

function getE5#

Returns the fifth column of the spatial matrix. 

inline SBDTypePhysicalVector6 < Quantity01, Quantity11 > SBDTypePhysicalMatrix66::getE5 () const

function getE6#

Returns the sixth column of the spatial matrix. 

inline SBDTypePhysicalVector6 < Quantity01, Quantity11 > SBDTypePhysicalMatrix66::getE6 () const

function getValue#

Returns a dimensionless physical matrix whose components are equal to those of this physical matrix. 

inline SBDTypePhysicalMatrix66 < SBQuantity::dimensionless , SBQuantity::dimensionless , SBQuantity::dimensionless , SBQuantity::dimensionless > SBDTypePhysicalMatrix66::getValue () const

function operator!=#

Returns true if this spatial matrix is different from spatial matrix mat (component-wise) 

inline bool SBDTypePhysicalMatrix66::operator!= (
    const SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & mat
) const

function operator*#

Returns the product of this spatial matrix with the spatial vector v . 

template<typename QuantityA, typename QuantityL>
inline SBDTypePhysicalVector6 < typename SBQuantityProduct2< Quantity00, QuantityA >::Type, typename SBQuantityProduct2< Quantity10, QuantityA >::Type > SBDTypePhysicalMatrix66::operator* (
    const SBDTypePhysicalVector6 < QuantityA, QuantityL > & v
) const

Parameters:

  • v A spatial vector

This function returns the product of this spatial matrix with the spatial vector v. SAMSON's unit system checks that the units in the spatial matrix and the spatial vector are compatible.

function operator*#

Returns the product of this spatial matrix with double d . 

inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > SBDTypePhysicalMatrix66::operator* (
    double d
) const

Parameters:

  • d A double

This function returns the product of this spatial matrix with double d.

function operator*=#

Multiplies this spatial matrix with physical quantity d . 

template<typename Quantity>
inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & SBDTypePhysicalMatrix66::operator*= (
    Quantity d
) const

Parameters:

  • d A dimensionless physical quantity or a numeric type (i.e. int, float, double, etc)

function operator+#

Returns the sum of the spatial matrix with the mat spatial matrix. 

inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > SBDTypePhysicalMatrix66::operator+ (
    const SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & mat
) const

Parameters:

  • mat A spatial matrix

This function returns the sum of the spatial matrix with the mat spatial matrix. Both spatial matrices must have identical units.

function operator+=#

Adds the mat spatial matrix to this spatial matrix. 

inline void SBDTypePhysicalMatrix66::operator+= (
    const SBDTypePhysicalMatrix66 & mat
)

Parameters:

  • mat A spatial matrix

This function adds the mat spatial matrix to this spatial matrix. Both spatial matrices must have identical units.

function operator-#

Returns the subtraction of the spatial matrix from the mat spatial matrix. 

inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > SBDTypePhysicalMatrix66::operator- (
    const SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & mat
) const

Parameters:

  • mat A spatial matrix

This function returns the subtraction of the spatial matrix from the mat spatial matrix. Both spatial matrices must have identical units.

function operator-#

Returns the opposite of the spatial matrix. 

inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > SBDTypePhysicalMatrix66::operator- () const

This function returns the opposite of the spatial matrix.

function operator-=#

Subtracts the mat spatial matrix from this spatial matrix. 

inline void SBDTypePhysicalMatrix66::operator-= (
    const SBDTypePhysicalMatrix66 & mat
)

Parameters:

  • mat A spatial matrix

This function subtracts the mat spatial matrix from this spatial matrix. Both spatial matrices must have identical units.

function operator/#

Returns the division of this spatial matrix by double d . 

inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > SBDTypePhysicalMatrix66::operator/ (
    double d
) const

Parameters:

  • d A double

This function returns the division of this spatial matrix by double d.

function operator/=#

Divides this spatial matrix by physical quantity d . 

template<typename Quantity>
inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & SBDTypePhysicalMatrix66::operator/= (
    Quantity d
) const

Parameters:

  • d A dimensionless physical quantity or a numeric type (i.e. int, float, double, etc)

function operator=#

Copy assignment. 

inline SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & SBDTypePhysicalMatrix66::operator= (
    const SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & mat
)

function operator==#

Returns true if this spatial matrix is equal to spatial matrix mat (component-wise) 

inline bool SBDTypePhysicalMatrix66::operator== (
    const SBDTypePhysicalMatrix66 < Quantity00, Quantity01, Quantity10, Quantity11 > & mat
) const

function print#

Prints the spatial matrix. 

inline void SBDTypePhysicalMatrix66::print () const

This function prints the spatial matrix.

function serialize#

Serializes the matrix using the provided serializer . 

inline virtual void SBDTypePhysicalMatrix66::serialize (
    SBCSerializer * serializer,
    const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER
) const

function setIdentity#

Sets the matrix to identity. 

inline void SBDTypePhysicalMatrix66::setIdentity ()

function setValue#

Sets the components of this physical matrix equal to those of the dimensionless physical matrix u . 

inline void SBDTypePhysicalMatrix66::setValue (
    const SBDTypePhysicalMatrix66 < SBQuantity::dimensionless , SBQuantity::dimensionless , SBQuantity::dimensionless , SBQuantity::dimensionless > & u
)

function setZero#

Sets the matrix to zero. 

inline void SBDTypePhysicalMatrix66::setZero ()

function symmetrize#

Makes the matrix symmetric. 

inline void SBDTypePhysicalMatrix66::symmetrize ()

Makes the matrix symmetric by replacing it with the half-sum of itself and its transpose:

function transpose [1/2]#

Returns the transpose. 

inline SBDTypePhysicalMatrix66 < Quantity00, Quantity10, Quantity01, Quantity11 > SBDTypePhysicalMatrix66::transpose () const

function transpose [2/2]#

Sets result to the transpose of the matrix. 

inline void SBDTypePhysicalMatrix66::transpose (
    SBDTypePhysicalMatrix66 < Quantity00, Quantity10, Quantity01, Quantity11 > & result
) const

Parameters:

  • result The spatial matrix which becomes equal to the transpose of this matrix This function exists for efficiency reasons, to avoid the cost of an object construction.

function unserialize#

Unserializes the matrix using the provided serializer . 

inline virtual void SBDTypePhysicalMatrix66::unserialize (
    SBCSerializer * serializer,
    const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER
)