rcs.posemath

Class PmRotationMatrix

java.lang.Object

rcs.posemath.PmRotationMatrix

Direct Known Subclasses:

PM_ROTATION_MATRIX

public class PmRotationMatrix
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
PmCartesian	x
PmCartesian	y
PmCartesian	z

Constructor Summary

Constructors

Constructor and Description
PmRotationMatrix()
PmRotationMatrix(double xx, double xy, double xz, double yx, double yy, double yz, double zx, double zy, double zz)
PmRotationMatrix(PmCartesian startx, PmCartesian starty, PmCartesian startz)

Method Summary

Modifier and Type	Method and Description
PmRotationMatrix	inv()
PmCartesian	multiply(PmCartesian cart)
PmRotationMatrix	multiply(PmRotationMatrix other)
java.lang.String	toString()
void	update(NMLFormatConverter nml_fc)

Methods inherited from class java.lang.Object

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

Field Detail

x

public PmCartesian x

y

public PmCartesian y

z

public PmCartesian z

Constructor Detail

PmRotationMatrix

public PmRotationMatrix(PmCartesian startx,
                        PmCartesian starty,
                        PmCartesian startz)

PmRotationMatrix

public PmRotationMatrix()

PmRotationMatrix

public PmRotationMatrix(double xx,
                        double xy,
                        double xz,
                        double yx,
                        double yy,
                        double yz,
                        double zx,
                        double zy,
                        double zz)

Method Detail

update

public void update(NMLFormatConverter nml_fc)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

inv

public PmRotationMatrix inv()
                     throws PmException

Throws:

PmException

multiply

public PmRotationMatrix multiply(PmRotationMatrix other)
                          throws PmException

Throws:

PmException

multiply

public PmCartesian multiply(PmCartesian cart)
                     throws PmException

Throws:

PmException