agi.foundation.coordinates

(agi.foundation.core-2024r3.jar)

Class Matrix6By6Symmetric

java.lang.Object

agi.foundation.coordinates.Matrix6By6Symmetric

All Implemented Interfaces:

IEquatable<Matrix6By6Symmetric>, IEquatableEpsilon<Matrix6By6Symmetric>

public class Matrix6By6Symmetric
extends Object
implements IEquatable<Matrix6By6Symmetric>, IEquatableEpsilon<Matrix6By6Symmetric>

A 6-by-6 symmetric matrix. This type is often used to represent position and velocity covariance.

Method Summary

Modifier and Type	Method and Description
Matrix6By6	add(Matrix6By6 matrix) Adds a matrix to this matrix.
Matrix6By6Symmetric	add(Matrix6By6Symmetric matrix) Adds a matrix to this matrix.
static Matrix6By6	add(Matrix6By6Symmetric left, Matrix6By6 right) Adds a matrix to this matrix.
static Matrix6By6Symmetric	add(Matrix6By6Symmetric left, Matrix6By6Symmetric right) Adds a matrix to this matrix.
static Matrix6By6Symmetric	diagonalMatrix(double m11, double m22, double m33, double m44, double m55, double m66) Forms a diagonal matrix from the input elements.
static boolean	equals(Matrix6By6Symmetric left, Matrix6By6Symmetric right) Returns true if the two instances are exactly equal.
boolean	equals(Object obj) Indicates whether another object is exactly equal to this instance.
boolean	equalsEpsilon(Matrix6By6Symmetric other, double epsilon) Returns true if all of the elements of this matrix are within epsilon of the same elements of the specified matrix.
boolean	equalsType(Matrix6By6Symmetric other) Indicates whether another instance of this type is exactly equal to this instance.
static Matrix6By6Symmetric	fromLowerTriangular(double m11, double m21, double m22, double m31, double m32, double m33, double m41, double m42, double m43, double m44, double m51, double m52, double m53, double m54, double m55, double m61, double m62, double m63, double m64, double m65, double m66) Forms a symmetric matrix from the lower triangular elements.
static Matrix6By6Symmetric	fromLowerTriangular(Matrix6By6 matrix) Forms a symmetric matrix from the lower triangular elements of the provided matrix.
static Matrix6By6Symmetric	fromUpperTriangular(double m11, double m12, double m13, double m14, double m15, double m16, double m22, double m23, double m24, double m25, double m26, double m33, double m34, double m35, double m36, double m44, double m45, double m46, double m55, double m56, double m66) Forms a symmetric matrix from the upper triangular elements.
static Matrix6By6Symmetric	fromUpperTriangular(Matrix6By6 matrix) Forms a symmetric matrix from the upper triangular elements of the provided matrix.
double	get(int row, int column) Accesses the matrix elements using zero-based indexing.
static Matrix6By6Symmetric	getIdentity() Gets a Matrix6By6Symmetric representing an identity transformation.
boolean	getIsUndefined() Gets a value indicating whether any of the matrix values are Double.NaN.
double	getM11() Gets the element in the first row, first column.
double	getM12() Gets the element in the first row, second column.
double	getM13() Gets the element in the first row, third column.
double	getM14() Gets the element in the first row, fourth column.
double	getM15() Gets the element in the first row, fifth column.
double	getM16() Gets the element in the first row, sixth column.
double	getM21() Gets the element in the second row, first column.
double	getM22() Gets the element in the second row, second column.
double	getM23() Gets the element in the second row, third column.
double	getM24() Gets the element in the second row, fourth column.
double	getM25() Gets the element in the second row, fifth column.
double	getM26() Gets the element in the second row, sixth column.
double	getM31() Gets the element in the third row, first column.
double	getM32() Gets the element in the third row, second column.
double	getM33() Gets the element in the third row, third column.
double	getM34() Gets the element in the third row, fourth column.
double	getM35() Gets the element in the third row, fifth column.
double	getM36() Gets the element in the third row, sixth column.
double	getM41() Gets the element in the fourth row, first column.
double	getM42() Gets the element in the fourth row, second column.
double	getM43() Gets the element in the fourth row, third column.
double	getM44() Gets the element in the fourth row, fourth column.
double	getM45() Gets the element in the fourth row, fifth column.
double	getM46() Gets the element in the fourth row, sixth column.
double	getM51() Gets the element in the fifth row, first column.
double	getM52() Gets the element in the fifth row, second column.
double	getM53() Gets the element in the fifth row, third column.
double	getM54() Gets the element in the fifth row, fourth column.
double	getM55() Gets the element in the fifth row, fifth column.
double	getM56() Gets the element in the fifth row, sixth column.
double	getM61() Gets the element in the sixth row, first column.
double	getM62() Gets the element in the sixth row, second column.
double	getM63() Gets the element in the sixth row, third column.
double	getM64() Gets the element in the sixth row, fourth column.
double	getM65() Gets the element in the sixth row, fifth column.
double	getM66() Gets the element in the sixth row, sixth column.
static Matrix6By6Symmetric	getUndefined() Gets a Matrix6By6Symmetric representing an undefined matrix containing Double.NaN values.
static Matrix6By6Symmetric	getZero() Gets a Matrix6By6Symmetric representing the zero matrix.
int	hashCode() Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
Matrix6By6Symmetric	multiply(double scalar) Multiplies this matrix by a scalar.
static Matrix6By6Symmetric	multiply(double scalar, Matrix6By6Symmetric matrix) Multiplies a scalar by a matrix.
Matrix6By6	multiply(Matrix6By6 matrix) Multiplies this matrix by a matrix.
Matrix6By6Symmetric	multiply(Matrix6By6Symmetric matrix) Multiplies this matrix by a matrix.
static Matrix6By6Symmetric	multiply(Matrix6By6Symmetric matrix, double scalar) Multiplies a matrix by a scalar.
static Matrix6By6	multiply(Matrix6By6Symmetric left, Matrix6By6 right) Multiplies the left matrix by the right matrix.
static Matrix6By6Symmetric	multiply(Matrix6By6Symmetric left, Matrix6By6Symmetric right) Multiplies the left matrix by the right matrix.
static boolean	notEquals(Matrix6By6Symmetric left, Matrix6By6Symmetric right) Returns true if the two instances are not exactly equal.
Matrix6By6	subtract(Matrix6By6 matrix) Subtracts a matrix from this matrix.
Matrix6By6Symmetric	subtract(Matrix6By6Symmetric matrix) Subtracts a matrix from this matrix.
static Matrix6By6	subtract(Matrix6By6Symmetric left, Matrix6By6 right) Subtracts the second matrix from the first.
static Matrix6By6Symmetric	subtract(Matrix6By6Symmetric left, Matrix6By6Symmetric right) Subtracts the second matrix from the first.
Matrix6By6Symmetric	transpose() Transposes the matrix.

Methods inherited from class java.lang.Object

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

Method Detail

getIdentity

@Nonnull
public static Matrix6By6Symmetric getIdentity()

Gets a Matrix6By6Symmetric representing an identity transformation.

Returns:

The 6-by-6 identity matrix.

getZero

@Nonnull
public static Matrix6By6Symmetric getZero()

Gets a Matrix6By6Symmetric representing the zero matrix.

Returns:

The 6-by-6 zero matrix.

getUndefined

@Nonnull
public static Matrix6By6Symmetric getUndefined()

Gets a Matrix6By6Symmetric representing an undefined matrix containing Double.NaN values.

Returns:

The 6-by-6 undefined matrix.

diagonalMatrix

@Nonnull
public static Matrix6By6Symmetric diagonalMatrix(double m11,
                                                           double m22,
                                                           double m33,
                                                           double m44,
                                                           double m55,
                                                           double m66)

Forms a diagonal matrix from the input elements.

Parameters:

m11 - 1,1

m22 - 2,2

m33 - 3,3

m44 - 4,4

m55 - 5,5

m66 - 6,6

Returns:

The diagonal matrix.

fromLowerTriangular

@Nonnull
public static Matrix6By6Symmetric fromLowerTriangular(double m11,
                                                                double m21,
                                                                double m22,
                                                                double m31,
                                                                double m32,
                                                                double m33,
                                                                double m41,
                                                                double m42,
                                                                double m43,
                                                                double m44,
                                                                double m51,
                                                                double m52,
                                                                double m53,
                                                                double m54,
                                                                double m55,
                                                                double m61,
                                                                double m62,
                                                                double m63,
                                                                double m64,
                                                                double m65,
                                                                double m66)

Forms a symmetric matrix from the lower triangular elements.

Parameters:

m11 - 1,1

m21 - 2,1

m22 - 2,2

m31 - 3,1

m32 - 3,2

m33 - 3,3

m41 - 4,1

m42 - 4,2

m43 - 4,3

m44 - 4,4

m51 - 5,1

m52 - 5,2

m53 - 5,3

m54 - 5,4

m55 - 5,5

m61 - 6,1

m62 - 6,2

m63 - 6,3

m64 - 6,4

m65 - 6,5

m66 - 6,6

Returns:

The symmetric matrix.

fromLowerTriangular

@Nonnull
public static Matrix6By6Symmetric fromLowerTriangular(@Nonnull
                                                                Matrix6By6 matrix)

Forms a symmetric matrix from the lower triangular elements of the provided matrix.

Parameters:

matrix - The original matrix.

Returns:

The symmetric matrix.

fromUpperTriangular

@Nonnull
public static Matrix6By6Symmetric fromUpperTriangular(double m11,
                                                                double m12,
                                                                double m13,
                                                                double m14,
                                                                double m15,
                                                                double m16,
                                                                double m22,
                                                                double m23,
                                                                double m24,
                                                                double m25,
                                                                double m26,
                                                                double m33,
                                                                double m34,
                                                                double m35,
                                                                double m36,
                                                                double m44,
                                                                double m45,
                                                                double m46,
                                                                double m55,
                                                                double m56,
                                                                double m66)

Forms a symmetric matrix from the upper triangular elements.

Parameters:

m11 - 1,1

m12 - 1,2

m13 - 1,3

m14 - 1,4

m15 - 1,5

m16 - 1,6

m22 - 2,2

m23 - 2,3

m24 - 2,4

m25 - 2,5

m26 - 2,6

m33 - 3,3

m34 - 3,4

m35 - 3,5

m36 - 3,6

m44 - 4,4

m45 - 4,5

m46 - 4,6

m55 - 5,5

m56 - 5,6

m66 - 6,6

Returns:

The symmetric matrix.

fromUpperTriangular

@Nonnull
public static Matrix6By6Symmetric fromUpperTriangular(@Nonnull
                                                                Matrix6By6 matrix)

Forms a symmetric matrix from the upper triangular elements of the provided matrix.

Parameters:

matrix - The original matrix.

Returns:

The symmetric matrix.

get

public final double get(int row,
                        int column)

Accesses the matrix elements using zero-based indexing.

Parameters:

row - The row index.

column - The column index.

Returns:

The value corresponding to the indicated element of the matrix.

Throws:

ArgumentOutOfRangeException - Thrown when either row or column is less than 0 or greater than 5.

getM11

public final double getM11()

Gets the element in the first row, first column.

getM12

public final double getM12()

Gets the element in the first row, second column.

getM13

public final double getM13()

Gets the element in the first row, third column.

getM14

public final double getM14()

Gets the element in the first row, fourth column.

getM15

public final double getM15()

Gets the element in the first row, fifth column.

getM16

public final double getM16()

Gets the element in the first row, sixth column.

getM21

public final double getM21()

Gets the element in the second row, first column.

getM22

public final double getM22()

Gets the element in the second row, second column.

getM23

public final double getM23()

Gets the element in the second row, third column.

getM24

public final double getM24()

Gets the element in the second row, fourth column.

getM25

public final double getM25()

Gets the element in the second row, fifth column.

getM26

public final double getM26()

Gets the element in the second row, sixth column.

getM31

public final double getM31()

Gets the element in the third row, first column.

getM32

public final double getM32()

Gets the element in the third row, second column.

getM33

public final double getM33()

Gets the element in the third row, third column.

getM34

public final double getM34()

Gets the element in the third row, fourth column.

getM35

public final double getM35()

Gets the element in the third row, fifth column.

getM36

public final double getM36()

Gets the element in the third row, sixth column.

getM41

public final double getM41()

Gets the element in the fourth row, first column.

getM42

public final double getM42()

Gets the element in the fourth row, second column.

getM43

public final double getM43()

Gets the element in the fourth row, third column.

getM44

public final double getM44()

Gets the element in the fourth row, fourth column.

getM45

public final double getM45()

Gets the element in the fourth row, fifth column.

getM46

public final double getM46()

Gets the element in the fourth row, sixth column.

getM51

public final double getM51()

Gets the element in the fifth row, first column.

getM52

public final double getM52()

Gets the element in the fifth row, second column.

getM53

public final double getM53()

Gets the element in the fifth row, third column.

getM54

public final double getM54()

Gets the element in the fifth row, fourth column.

getM55

public final double getM55()

Gets the element in the fifth row, fifth column.

getM56

public final double getM56()

Gets the element in the fifth row, sixth column.

getM61

public final double getM61()

Gets the element in the sixth row, first column.

getM62

public final double getM62()

Gets the element in the sixth row, second column.

getM63

public final double getM63()

Gets the element in the sixth row, third column.

getM64

public final double getM64()

Gets the element in the sixth row, fourth column.

getM65

public final double getM65()

Gets the element in the sixth row, fifth column.

getM66

public final double getM66()

Gets the element in the sixth row, sixth column.

transpose

public final Matrix6By6Symmetric transpose()

Transposes the matrix.

Returns:

The transposed matrix.

getIsUndefined

public final boolean getIsUndefined()

Gets a value indicating whether any of the matrix values are Double.NaN.

add

@Nonnull
public final Matrix6By6Symmetric add(@Nonnull
                                               Matrix6By6Symmetric matrix)

Adds a matrix to this matrix.

Parameters:

matrix - The matrix.

Returns:

The sum of the matrices.

add

@Nonnull
public final Matrix6By6 add(@Nonnull
                                      Matrix6By6 matrix)

Adds a matrix to this matrix.

Parameters:

matrix - The matrix.

Returns:

The sum of the matrices.

subtract

@Nonnull
public final Matrix6By6Symmetric subtract(@Nonnull
                                                    Matrix6By6Symmetric matrix)

Subtracts a matrix from this matrix.

Parameters:

matrix - The matrix to subtract.

Returns:

The result of the subtraction.

subtract

@Nonnull
public final Matrix6By6 subtract(@Nonnull
                                           Matrix6By6 matrix)

Subtracts a matrix from this matrix.

Parameters:

matrix - The matrix to subtract.

Returns:

The result of the subtraction.

multiply

@Nonnull
public final Matrix6By6Symmetric multiply(@Nonnull
                                                    Matrix6By6Symmetric matrix)

Multiplies this matrix by a matrix.

Parameters:

matrix - The matrix to multiply by.

Returns:

The result of the multiplication.

multiply

@Nonnull
public final Matrix6By6 multiply(@Nonnull
                                           Matrix6By6 matrix)

Multiplies this matrix by a matrix.

Parameters:

matrix - The matrix to multiply by.

Returns:

The result of the multiplication.

multiply

@Nonnull
public final Matrix6By6Symmetric multiply(double scalar)

Multiplies this matrix by a scalar.

Parameters:

scalar - The scalar to multiply by.

Returns:

The result of the multiplication.

add

public static Matrix6By6Symmetric add(Matrix6By6Symmetric left,
                                      Matrix6By6Symmetric right)

Adds a matrix to this matrix.

Parameters:

left - The left matrix.

right - The right matrix.

Returns:

The sum of the matrices.

add

public static Matrix6By6 add(Matrix6By6Symmetric left,
                             Matrix6By6 right)

Adds a matrix to this matrix.

Parameters:

left - The left matrix.

right - The right matrix.

Returns:

The sum of the matrices.

subtract

public static Matrix6By6Symmetric subtract(Matrix6By6Symmetric left,
                                           Matrix6By6Symmetric right)

Subtracts the second matrix from the first.

Parameters:

left - The left matrix.

right - The right matrix.

Returns:

The result of subtracting the second matrix from the first.

subtract

public static Matrix6By6 subtract(Matrix6By6Symmetric left,
                                  Matrix6By6 right)

Subtracts the second matrix from the first.

Parameters:

left - The left matrix.

right - The right matrix.

Returns:

The result of subtracting the second matrix from the first.

multiply

public static Matrix6By6Symmetric multiply(Matrix6By6Symmetric left,
                                           Matrix6By6Symmetric right)

Multiplies the left matrix by the right matrix.

Parameters:

left - The left matrix.

right - The right matrix.

Returns:

The result of the multiplication.

multiply

public static Matrix6By6 multiply(Matrix6By6Symmetric left,
                                  Matrix6By6 right)

Multiplies the left matrix by the right matrix.

Parameters:

left - The left matrix.

right - The right matrix.

Returns:

The result of the multiplication.

multiply

public static Matrix6By6Symmetric multiply(double scalar,
                                           Matrix6By6Symmetric matrix)

Multiplies a scalar by a matrix.

Parameters:

scalar - The scalar.

matrix - The matrix.

Returns:

The result of the multiplication.

multiply

public static Matrix6By6Symmetric multiply(Matrix6By6Symmetric matrix,
                                           double scalar)

Multiplies a matrix by a scalar.

Parameters:

matrix - The matrix.

scalar - The scalar.

Returns:

The result of the multiplication.

equalsEpsilon

public final boolean equalsEpsilon(Matrix6By6Symmetric other,
                                   double epsilon)

Returns true if all of the elements of this matrix are within epsilon of the same elements of the specified matrix. That is, in order for the matrices to be considered equal (and for this function to return true), the absolute value of the difference between each of their elements must be less than or equal to epsilon.

Specified by:

equalsEpsilon in interface IEquatableEpsilon<Matrix6By6Symmetric>

Parameters:

other - The Matrix6By6Symmetric to compare to this matrix.

epsilon - The largest difference between the elements of the matrices for which they will be considered equal.

Returns:

true if the matrices are equal as defined by the epsilon value.

equals

public boolean equals(Object obj)

Indicates whether another object is exactly equal to this instance.

Overrides:

equals in class Object

Parameters:

obj - The object to compare to this instance.

Returns:

true if obj is an instance of this type and represents the same value as this instance; otherwise false.

See Also:

Object.hashCode(), HashMap

equalsType

public final boolean equalsType(Matrix6By6Symmetric other)

Indicates whether another instance of this type is exactly equal to this instance.

Specified by:

equalsType in interface IEquatable<Matrix6By6Symmetric>

Parameters:

other - The instance to compare to this instance.

Returns:

true if other represents the same value as this instance; otherwise false.

hashCode

public int hashCode()

Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.

Overrides:

hashCode in class Object

Returns:

A hash code for the current object.

See Also:

Object.equals(java.lang.Object), System.identityHashCode(java.lang.Object)

equals

public static boolean equals(Matrix6By6Symmetric left,
                             Matrix6By6Symmetric right)

Returns true if the two instances are exactly equal.

Parameters:

left - The instance to compare to right.

right - The instance to compare to left.

Returns:

true if left represents the same value as right; otherwise false.

notEquals

public static boolean notEquals(Matrix6By6Symmetric left,
                                Matrix6By6Symmetric right)

Returns true if the two instances are not exactly equal.

Parameters:

left - The instance to compare to right.

right - The instance to compare to left.

Returns:

true if left does not represent the same value as right; otherwise false.