Class Matrix

java.lang.Object

org.jlab.detector.geant4.v2.SVT.Matrix

public class Matrix
extends Object

Geometry Base

Universal class for simple matrix algebra and rotation conversions.

Version:

1.1.0

Author:

pdavies

Constructor Summary

Constructors

Constructor	Description
Matrix(int aNRows, int aNCols)	Constructs a new Matrix with given rows and columns, and allocates an empty data array.
Matrix(int aNRows, int aNCols, double[] aData)	Constructs a new Matrix with given rows, columns, and data.

Method Summary

Modifier and Type	Method	Description
Matrix	clone()	Clones this Matrix.
static Matrix	convertRotationAxisAngleToMatrix(double[] aAxisAngle)	Converts the given axis-angle rotation to a rotation matrix.
static Matrix	convertRotationFromEulerInXYZ_ExZYX(double angle_x, double angle_y, double angle_z)	Converts the given Tait-Bryan angles to a rotation matrix.
static Matrix	convertRotationFromEulerInZYX_ExXYZ(double angle_x, double angle_y, double angle_z)	Converts the given Tait-Bryan angles to a rotation matrix.
static double[]	convertRotationToEulerInXYZ_ExZYX(Matrix aMatrix)	Converts the given rotation matrix to Tait-Bryan angles.
double[]	getData()	Returns the data array of this Matrix.
static Matrix	matMul(Matrix aMatrixA, Matrix aMatrixB)	Multiplies the two given matrices together with matrix multiplication.
static Matrix	rotateX(double angle)	Constructs a rotation matrix for rotation about the X axis by the given angle.
static Matrix	rotateY(double angle)	Constructs a rotation matrix for rotation about the Y axis by the given angle.
static Matrix	rotateZ(double angle)	Constructs a rotation matrix for rotation about the Z axis by the given angle.
void	show()	Prints data array with format "% 8.3f" for each element.
void	show(String s)	Prints the given string to standard output, followed by show().
static Matrix	transpose(Matrix aMatrix)	Returns a transposed clone of the given Matrix.
boolean	verify()	Returns true if the length of the data array is equal to the product of the number of rows and columns.

Methods inherited from class java.lang.Object

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

Constructor Details

Matrix

public Matrix(int aNRows,
 int aNCols,
 double[] aData)
       throws NullPointerException,
IllegalArgumentException

Constructs a new Matrix with given rows, columns, and data.

Parameters:

aNRows - rows

aNCols - columns

aData - data

Throws:

NullPointerException - no data

IllegalArgumentException - negative or zero rows or columns

Matrix

public Matrix(int aNRows,
 int aNCols)
       throws IllegalArgumentException

Constructs a new Matrix with given rows and columns, and allocates an empty data array.

Parameters:

aNRows - rows

aNCols - columns

Throws:

IllegalArgumentException - negative or zero rows or columns

Method Details

getData

public double[] getData()

Returns the data array of this Matrix.

Returns:

double[] array

clone

public Matrix clone()

Clones this Matrix.

Overrides:

clone in class Object

verify

public boolean verify()

Returns true if the length of the data array is equal to the product of the number of rows and columns.

Returns:

boolean true/false

show

public void show(String s)

Prints the given string to standard output, followed by show().

Parameters:

s - string

show

public void show()
          throws NullPointerException

Prints data array with format "% 8.3f" for each element.

Throws:

NullPointerException - no data

rotateX

public static Matrix rotateX(double angle)

Constructs a rotation matrix for rotation about the X axis by the given angle.

Parameters:

angle - in radians

Returns:

Matrix column-based rotation matrix

rotateY

public static Matrix rotateY(double angle)

Constructs a rotation matrix for rotation about the Y axis by the given angle.

Parameters:

angle - in radians

Returns:

Matrix column-based rotation matrix

rotateZ

public static Matrix rotateZ(double angle)

Constructs a rotation matrix for rotation about the Z axis by the given angle.

Parameters:

angle - in radians

Returns:

Matrix column-based rotation matrix

convertRotationAxisAngleToMatrix

public static Matrix convertRotationAxisAngleToMatrix(double[] aAxisAngle)

Converts the given axis-angle rotation to a rotation matrix. http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToMatrix/

Parameters:

aAxisAngle - axis-angle rotation, format: { rx, ry, rz, ra }, angle in radians

Returns:

Matrix a column-based rotation matrix

convertRotationFromEulerInZYX_ExXYZ

public static Matrix convertRotationFromEulerInZYX_ExXYZ(double angle_x,
 double angle_y,
 double angle_z)

Converts the given Tait-Bryan angles to a rotation matrix. Tait-Bryan Euler: intrinsic ZY'X" == extrinsic XYZ rotation matrix M = Z(c)*Y(b)*X(a) http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q36

Parameters:

angle_x - in radians

angle_y - in radians

angle_z - in radians

Returns:

Matrix a column-based rotation matrix

convertRotationFromEulerInXYZ_ExZYX

public static Matrix convertRotationFromEulerInXYZ_ExZYX(double angle_x,
 double angle_y,
 double angle_z)

Converts the given Tait-Bryan angles to a rotation matrix. Tait-Bryan Euler: intrinsic XY'Z" == extrinsic ZYX rotation matrix M = X(a)*Y(b)*Z(c) http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q36

Parameters:

angle_x - in radians

angle_y - in radians

angle_z - in radians

Returns:

Matrix a column-based rotation matrix

convertRotationToEulerInXYZ_ExZYX

public static double[] convertRotationToEulerInXYZ_ExZYX(Matrix aMatrix)

Converts the given rotation matrix to Tait-Bryan angles. Tait-Bryan Euler: intrinsic XY'Z" == extrinsic ZYX rotation matrix M = X(a)*Y(b)*Z(c)

Parameters:

aMatrix - a column-based rotation matrix

Returns:

double[] xyz angles in radians

transpose

public static Matrix transpose(Matrix aMatrix)

Returns a transposed clone of the given Matrix.

Parameters:

aMatrix - matrix

Returns:

Matrix tranposed clone

matMul

public static Matrix matMul(Matrix aMatrixA,
 Matrix aMatrixB)
                     throws IllegalArgumentException

Multiplies the two given matrices together with matrix multiplication. R = AB

Parameters:

aMatrixA - matrix

aMatrixB - matrix

Returns:

Matrix result

Throws:

IllegalArgumentException - check sizes of matrices