Matrix with 3 lines and 4 columns to make any transformation.
This class should be used in order to apply transformations to other components. More...

#include <SMatrix.h>

Inheritance diagram for SMatrix:

Public Types
enum	ConstraintFlag { TRANSLATION_X , TRANSLATION_Y , TRANSLATION_Z , ROTATION_X , ROTATION_Y , ROTATION_Z , ALL_MOVEMENT }

enum	SequenceEnum { OrderXYZ , OrderYXZ , OrderZXY }

enum	UnitEnum { RADIAN , DEGREE }

Public Slots
Number	AddToDocAsUCS (String Name, Boolean IsActivated)
	To add the matrix to the scene as an UCS with the given name. More...

	ApplyTransformation (SMatrix iMatrixToMul)
	To multiply a matrix by another matrix Apply the transformation on the current matrix. it's the matrix product of the two matrix : this*_iMatrixToMul. More...

static Array	BestFitCompute (Array< SComp > CompTable, Number ThresDist, Number BestFitType, ConstraintFlag ConstraintBitMask, SPoint FixedPoint, SVector ConstraintAxis, Boolean iAttractReversedNormals)
	Calculate the matrix that should be applied to each component of a set to make a best fit of all the components in a least squares sense. More...

static Array	FromActiveCS ()
	Return the matrix associated to the active UCS/WCS. More...

static Array	FromUCS (String Name)
	Search all the component with the given name. More...

Array	GetArmCoordinateSystem (Number Index)
	Return the Matrix saved at a given index. More...

Array	GetEuler (UnitEnum Unit)
	To interpret values from a SMatrix and find the rotation angle and the translation vector. More...

Number	GetValue (Number Row, Number Column)

Array	InitAlign (SPoint iFixed_P1, SPoint iFixed_P2, SPoint iFixed_P3, SPoint iMobile_P1, SPoint iMobile_P2, SPoint iMobile_P3)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Array	InitAlign (SPoint iFixed_P1, SPoint iFixed_P2, SPoint iMobile_P1, SPoint iMobile_P2)
	Calculates the transformation matrix from matching point couples. More...

Array	InitAutoRoughAlign (SComp RefComp, SComp CompToAlign)
	Compute the matrix to roughly align a component on another. More...

Array	InitBestAlign (Array< SPoint > TargetPoints, Array< SPoint > SourcePoints, Number Mode, ConstraintFlag ConstraintBitMask, SPoint FixedPoint, SVector ConstraintAxis)
	Sets the matrix for the best fit mapping of the source points onto the target points in a least squares sense. More...

Array	InitBestRotate (Array< SPoint > TargetPoints, Array< SPoint > SourcePoints, SPoint iFixPoint)
	Sets the matrix for the best ROTATION mapping of the source points onto the target points in a least squares sense. ONLY ROTATION. More...

Array	InitBestTranslate (Array< SPoint > TargetPoints, Array< SPoint > SourcePoints)
	Sets the matrix for the best TRANSLATION mapping of the source points onto the target points in a least squares sense. ONLY TRANSLATION. More...

	InitIdentity ()
	The matrix is initialized to the unitary matrix. All the cells are initialized to zero except the diagonal which is to 1. More...

Array	InitInverse (SMatrix Mat)
	Initialises the current matrix to the inversed matrix that is: CurrentMatrix*Mat=IdentityMatrix. More...

	InitMirrorAxis (SPoint iAxisP1, SPoint iAxisP2)
	Sets the matrix for an axis mirror. More...

	InitMirrorPlane (SPoint iPlanePnt, SVector NormalVect)
	Sets the matrix for a planar mirror. More...

	InitMirrorPnt (SPoint iMirrorCenter)
	Sets the matrix for a point mirror. More...

	InitQuaternion (Number w, Number x, Number y, Number z)
	Initialize a rotation matrix from a quaternion tuple. More...

Array	InitRot (Number AngX, Number AngY, Number AngZ, UnitEnum Unit, SequenceEnum Sequence, SPoint OriginPoint)
	Sets the matrix for the rotation around the 3 axis X,Y,Z. More...

Array	InitRot (SPoint iAxisPt, SVector iAxisVect, Number iAngle, UnitEnum iUnit)
	Sets the matrix for the rotation of an angle around an axis. More...

Array	InitRPSAlignment (Array< SPoint > TargetPoints, Array< SPoint > SourcePoints, Array< Array< Boolean > > XYZ_Constraints, Array< SCloud > AssociatedClouds, Number Neighborhood)
	Computes the RPS alignement matrix from given source and target points. More...

	InitScale (SPoint ScaleCenter, Number XScale, Number YScale, Number ZScale)
	Sets the matrix for a different scale ratio along X, Y and Z with a center. More...

Boolean	IsIdentity ()

static SMatrix	New ()
	Default constructor. The matrix is initialized to the unitary matrix. The vector is the null vector. More...

static SMatrix	New (Array< Number > Row1, Array< Number > Row2, Array< Number > Row3)
	Constructor to define a matrix by defining its rows. More...

static SMatrix	New (SMatrix Other)
	Constructs a SMatrix by copying the SMatrix Other. More...

static SMatrix	New (SPoint AxisPt, SVector AxisVect, Number Angle, UnitEnum Unit)
	Constructor to set a rotation matrix of an angle around an axis. If the input data are not coherent, the matrix returned is the identity. More...

static SMatrix	New (SVector TranslateVector)
	Constructor. The SMatrix obtained is a pure translation. More...

Array	SaveArmCoordinateSystem (Number Index, SMatrix NewMatrix)
	Save a Matrix as a Coordinate System. If a matrix exists at the input index, it will be deleted. More...

String	toString ()
	Get the type of the variable. More...

static String	toString ()
	Get the type of the variable. More...

Array	UpdateArmCoordinateSystem (Number Index, SMatrix NewMatrix)
	Update the matrix at the input index, by multiplying the current matrix by the input matrix. More...

Number	UpdateUCS (String Name)
	Update with the current matrix the UCS found with the given name. More...

String	ValuesToString ()
	Get a string representation of the point. More...

Public Slots inherited from SObject
	Clear ()
	To deallocate memory of the object. More...

String	toString ()
	Get the type of the variable. More...

Detailed Description

Matrix with 3 lines and 4 columns to make any transformation.
This class should be used in order to apply transformations to other components.

Member Enumeration Documentation

◆ ConstraintFlag

enum SMatrix::ConstraintFlag

Enumerator
TRANSLATION_X	Allow the translation along the X-axis
TRANSLATION_Y	Allow the translation along the Y-axis
TRANSLATION_Z	Allow the translation along the Z-axis
ROTATION_X	Allow the rotation around the X-axis
ROTATION_Y	Allow the rotation around the Y-axis
ROTATION_Z	Allow the rotation around the Z-axis
ALL_MOVEMENT	Disable constraints

◆ SequenceEnum

enum SMatrix::SequenceEnum

Enumerator
OrderXYZ
OrderYXZ
OrderZXY

◆ UnitEnum

enum SMatrix::UnitEnum

Enumerator
RADIAN
DEGREE

Member Function Documentation

◆ AddToDocAsUCS

Number SMatrix::AddToDocAsUCS	(	String	Name,
		Boolean	IsActivated
	)

slot

To add the matrix to the scene as an UCS with the given name.

Note: The matrix used for the UCS should not have null rows. Also, the vectors created from the rows should not be parallel.

Return values

0	There is no error
1	The matrix is not well defined

Parameters

[in]	Name	Name of the UCS
[in]	IsActivated	True if the UCS should be activated

◆ ApplyTransformation

SMatrix::ApplyTransformation ( SMatrix iMatrixToMul )

slot

To multiply a matrix by another matrix Apply the transformation on the current matrix.
it's the matrix product of the two matrix : this*_iMatrixToMul.

◆ BestFitCompute

static Array SMatrix::BestFitCompute	(	Array< SComp >	CompTable,
		Number	ThresDist,
		Number	BestFitType,
		ConstraintFlag	ConstraintBitMask,
		SPoint	FixedPoint,
		SVector	ConstraintAxis,
		Boolean	iAttractReversedNormals
	)

staticslot

Calculate the matrix that should be applied to each component of a set to make a best fit of all the components in a least squares sense.

Note: This function analyzes the overlapping area of the objects. It means that an overlapping area must exist. Otherwise the best fit operation may give a non relevant result or no result at all (identity matrix).; If you use this function with clouds, the cloud must represent a surface in order to project point on this cloud. If you have only a few points (less than 100 of overlapping area) it may be difficult for the function to approximate a surface and to make statistic evaluations. The result may be disappointing or you may have no result at all (identity matrix). If you have only a few points in cloud number 1 to best fit with the same number of points matching in cloud number 2, you should prefer the function InitBestAlign().; Before calling the function, the component should be roughly prepositioned so they are not too far from each other.

Return values

Array.ErrorCode	The error code: 0 OK, no error 1 Invalid list of component or bad / incomplete initialization or impossible to initialize.
Array.MatrixTbl	Array of resulting matrices defining new component positions, in the same order as the input component table. The first component being assumed as immobile, the first matrix is initialized with the identity matrix.
Array.StdDeviationTbl	the registration standard deviation error of each component
Array.MeanErrorTbl	the registration mean error of each component

Note: If the fitting error is small, there is a high chance that the position of the component is correct. A high fitting error can come from several factors:

The position of the object is not correct.
The component is a very "noisy" shape (many measurement errors).
The shape (or scale) of the different components are different.

If you register several components together (BestFitType==1), do not forget that if one of the component has a "bad shape" so that it cannot fit correctly with its neighbors, this will also affect the fitting error of the neighbors. However, there is a high chance that the standard deviation of the "worst component" is the highest.

If you register several components together (BestFitType==1), Array.StdDeviationTbl[0] will contain a value although component zero do not moves. This represent the fitting error of component zero with its neighbors in the overlapping areas. If you register all components on the first (BestFitType==0), or if there are only two components, Array.StdDeviationTbl[0] is returned with a null value.

Parameters

[in]	CompTable	Table of components to best fit together The first component of the list is assumed to be immobile. Valid components in the list are: SCloud, SPoly, SMultiline, SCADSurface
[in]	ThresDist	Ignore the part of the components whose distance with other components is greater than this threshold. If a complete session is done and BestFitCompute has not been called previously, this value can be set to null to tell the function to take 1/100 of the greatest size. The parameter "ThresDist" is very critical To explain this value, we will take the comparison of a "magnet". When you make the best fit, you "attract" some parts of the shape so that they get closer and to minimize a distance. However, the fitting between the shapes will be correct only if the "attraction" is done between 2 parts representing the same shape in the different objects to fit. In other words, if you attract 2 parts at the opposite extremities of the object to fit, there is a high chance that the position at the end will be incorrect. To avoid this, the "magnet" must limit his attraction to a certain distance and it is the goal of this parameter. The value to set should be in relation with the misalignment error before entering in the command. In other words "how far are the object to align?". In this value, you must also take in account the measurement accuracy and the noise thickness, if any.
[in]	BestFitType	Which type of best fit should be done ? 0: Component 1 to n are best fitted with the first component (number 0 that is immobile) 1: Best fit all together. (component number i is best fitted with all other n-1 components). This option is ignored if there are only 2 components. 2: Component 1 to n are best fitted with the first component (number 0 that is immobile) and a SCALE is applied on components 1 to n
[in]	ConstraintBitMask	Transformation constraints (bit mask option) TRANSLATION_X (ConstraintBitMask & TRANSLATION_X) Allow the translation along the X-axis TRANSLATION_Y (ConstraintBitMask & TRANSLATION_Y) Allow the translation along the Y-axis TRANSLATION_Z (ConstraintBitMask & TRANSLATION_Z) Allow the translation along the Z-axis ROTATION_X (ConstraintBitMask & ROTATION_X) Allow the rotation around the X-axis ROTATION_Y (ConstraintBitMask & ROTATION_Y) Allow the rotation around the Y-axis ROTATION_Z (ConstraintBitMask & ROTATION_Z) Allow the rotation around the Z-axis
[in]	FixedPoint	Fixed point. If not null, this point will not move during the rotation.
[in]	ConstraintAxis	Axis of constraint. If not null, the translation will be guided by this vector.
[in]	iAttractReversedNormals	Should we make attraction between surfaces having reversed normals ? false No, do not consider overlapping when surfaces have not the same orientation true Yes, make an attraction between surfaces even if they do not have the same orientation. Note: This option will only affect meshes and clouds containing scanning direction information

◆ FromActiveCS

static Array SMatrix::FromActiveCS ( )

staticslot

Return the matrix associated to the active UCS/WCS.

◆ FromUCS

static Array SMatrix::FromUCS ( String Name )

staticslot

Search all the component with the given name.

Return values

Array All the SMatrix with the given name

◆ GetArmCoordinateSystem

Array SMatrix::GetArmCoordinateSystem ( Number Index )

slot

Return the Matrix saved at a given index.

Return values

Array.ErrorCode	The error code
Array.Matrix	The matrix 0: No error 1: The index is invalid

Parameters

[in] Index index of the CS to update (1 to 9)

◆ GetEuler

Array SMatrix::GetEuler ( UnitEnum Unit )

slot

To interpret values from a SMatrix and find the rotation angle and the translation vector.

Return values

Array.ErrorCode	The error code: 0: OK (normal calculation). 1: The matrix is not a pure rotation, impossible to find rotation and scale, but the translation vector is valid.
Array.Vector	The translation SVector
Array.RotX	The pitch angle (left handed rotation around X) (default RADIAN)
Array.RotY	The roll angle (left handed rotation around Y) (default RADIAN)
Array.RotZ	The yaw or heading angle (left handed rotation around Z) (default RADIAN)
Array.ScaleX	The matrix scale along X
Array.ScaleY	The matrix scale along Y
Array.ScaleZ	The matrix scale along Z

Parameters

[in] Unit In which unit will be expressed Angle SMatrix.RADIAN: Angle is in radians SMatrix.DEGREE: Angle is in degrees

◆ GetValue

Number SMatrix::GetValue	(	Number	Row,
		Number	Column
	)

slot

Returns: Returns the matrix value at the position(Row, Column)

Parameters

[in]	Row	index of the row 0 <= Row < 3
[in]	Column	index of the column 0 <= Column < 4

◆ InitAlign [1/2]

Array SMatrix::InitAlign	(	SPoint	iFixed_P1,
		SPoint	iFixed_P2,
		SPoint	iFixed_P3,
		SPoint	iMobile_P1,
		SPoint	iMobile_P2,
		SPoint	iMobile_P3
	)

slot

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

[in]	iFixed_P1	Arrival P1
[in]	iFixed_P2	Arrival P2
[in]	iFixed_P3	Arrival P3
[in]	iMobile_P1	Departure P1 to move on iFixed_P1
[in]	iMobile_P2	Departure P2 to align on segment iFixed_P1 iFixed_P2
[in]	iMobile_P3	Departure P3 to put on the same plane as iFixed_P1 iFixed_P2 iFixed_P3

◆ InitAlign [2/2]

Array SMatrix::InitAlign	(	SPoint	iFixed_P1,
		SPoint	iFixed_P2,
		SPoint	iMobile_P1,
		SPoint	iMobile_P2
	)

slot

Calculates the transformation matrix from matching point couples.

Return values

Array.ErrorCode

The error code:

0: No error
1: Transformation could not be computed. Inconsistent points, an identity matrix is initialized.

Parameters

[in]	iFixed_P1	Arrival P1
[in]	iFixed_P2	Arrival P2
[in]	iMobile_P1	Departure P1 to move on iFixed_P1
[in]	iMobile_P2	Departure P2 to align on segment iFixed_P1 iFixed_P2

◆ InitAutoRoughAlign

Array SMatrix::InitAutoRoughAlign	(	SComp	RefComp,
		SComp	CompToAlign
	)

slot

Compute the matrix to roughly align a component on another.

Note: The two components to align are supposed to represent the same shape. Unpredictable result may occur if the two components do not represent the same shape or just an overlap portion. If the shape is "symmetric" (sphere, cube, parallelepiped, etc.) the result may be unpredictable modulo 180 degrees.; It is usually necessary to call SMatrix::BestFitCompute after calling InitAutoRoughAlign

Return values

Array.ErrorCode

The error code:

0: OK (normal calculation).
1: Transformation could not be computed. An identity matrix is initialized.

Parameters

[in]	RefComp	Reference component. Valid components in the list are: SCloud, SPoly
[in]	CompToAlign	Component to align on RefComp. Valid components in the list are: SCloud, SPoly

◆ InitBestAlign

Array SMatrix::InitBestAlign	(	Array< SPoint >	TargetPoints,
		Array< SPoint >	SourcePoints,
		Number	Mode,
		ConstraintFlag	ConstraintBitMask,
		SPoint	FixedPoint,
		SVector	ConstraintAxis
	)

slot

Sets the matrix for the best fit mapping of the source points onto the target points in a least squares sense.

Note: The number of points of each list must be the same and point number i of both lists is assumed to match together.

Return values

Array.ErrorCode

The error code:

0: OK (normal calculation).
1: Transformation could not be computed. Inconsistent points, an identity matrix is initialized.

Parameters

[in]	TargetPoints	Table of target points
[in]	SourcePoints	Table of departure points
[in]	Mode	The type of transformation to do 0 Rigid (Translation + Rotation ; no affinity) 1 Translation + Rotation + Scale (apply if necessary a scale; SAME scale along X, Y and Z)
[in]	ConstraintBitMask	Transformation constraints (bit mask option) TRANSLATION_X (ConstraintBitMask & TRANSLATION_X) Allow the translation along the X-axis TRANSLATION_Y (ConstraintBitMask & TRANSLATION_Y) Allow the translation along the Y-axis TRANSLATION_Z (ConstraintBitMask & TRANSLATION_Z) Allow the translation along the Z-axis ROTATION_X (ConstraintBitMask & ROTATION_X) Allow the rotation around the X-axis ROTATION_Y (ConstraintBitMask & ROTATION_Y) Allow the rotation around the Y-axis ROTATION_Z (ConstraintBitMask & ROTATION_Z) Allow the rotation around the Z-axis
[in]	FixedPoint	Fixed point. If not 0, this point will not move during the rotation.
[in]	ConstraintAxis	Axis of constraint. If not 0, the translation will be guided by this vector.

◆ InitBestRotate

Array SMatrix::InitBestRotate	(	Array< SPoint >	TargetPoints,
		Array< SPoint >	SourcePoints,
		SPoint	iFixPoint
	)

slot

Sets the matrix for the best ROTATION mapping of the source points onto the target points in a least squares sense. ONLY ROTATION.

Note: The number of points of each list must be the same and point number i of both lists is assumed to match together.

Return values

Array.ErrorCode

The error code:

0: OK (normal calculation).
1: Transformation could not be computed. Inconsistent points, an identity matrix is initialized.

Parameters

[in]	TargetPoints	Table of target points
[in]	SourcePoints	Table of departure points
[in]	iFixPoint	The point which must not move

◆ InitBestTranslate

Array SMatrix::InitBestTranslate	(	Array< SPoint >	TargetPoints,
		Array< SPoint >	SourcePoints
	)

slot

Sets the matrix for the best TRANSLATION mapping of the source points onto the target points in a least squares sense. ONLY TRANSLATION.

Note: The number of points of each list must be the same and point number i of both lists is assumed to match together.

Return values

Array.ErrorCode

The error code:

0: OK (normal calculation).
1: Transformation could not be computed. Inconsistent points, an identity matrix is initialized.

Parameters

[in]	TargetPoints	Table of target points
[in]	SourcePoints	Table of departure points

◆ InitIdentity

SMatrix::InitIdentity ( )

slot

The matrix is initialized to the unitary matrix. All the cells are initialized to zero except the diagonal which is to 1.

◆ InitInverse

Array SMatrix::InitInverse ( SMatrix Mat )

slot

Initialises the current matrix to the inversed matrix that is: CurrentMatrix*Mat=IdentityMatrix.

Return values

Array.ErrorCode

The error code:

0: No error
1: The input matrix cannot be inversed in this case, current matrix is initialized to null matrix

Parameters

[in] Mat Matrix to inverse

◆ InitMirrorAxis

SMatrix::InitMirrorAxis	(	SPoint	iAxisP1,
		SPoint	iAxisP2
	)

slot

Sets the matrix for an axis mirror.

◆ InitMirrorPlane

SMatrix::InitMirrorPlane	(	SPoint	iPlanePnt,
		SVector	NormalVect
	)

slot

Sets the matrix for a planar mirror.

◆ InitMirrorPnt

SMatrix::InitMirrorPnt ( SPoint iMirrorCenter )

slot

Sets the matrix for a point mirror.

◆ InitQuaternion

SMatrix::InitQuaternion	(	Number	w,
		Number	x,
		Number	y,
		Number	z
	)

slot

Initialize a rotation matrix from a quaternion tuple.

Parameters

[in] z Quaternion tuple (w, x, y, z)

◆ InitRot [1/2]

Array SMatrix::InitRot	(	Number	AngX,
		Number	AngY,
		Number	AngZ,
		UnitEnum	Unit,
		SequenceEnum	Sequence,
		SPoint	OriginPoint
	)

slot

Sets the matrix for the rotation around the 3 axis X,Y,Z.

Return values

Array.ErrorCode

The error code

0: No error
1: Inconsistent data was entered, an identity matrix is initialized.

Parameters

[in]	AngX	Omega
[in]	AngY	Phi
[in]	AngZ	Kappa
[in]	Unit	In which unit is expressed Angle SMatrix.RADIAN: Angle is in radians SMatrix.DEGREE: Angle is in degrees
[in]	Sequence	Order applied of the angles to the Axis SMatrix.OrderXYZ : Applied in order X->Y->Z such that R = RzRyRx. This is the Euler convention In aerial photogrammetric measurements this transformation corresponds to the OPK sequence also called (Omega Phi Kappa) with Omega, Phi=Ry and Kappa=Rz. SMatrix.OrderYXZ : Applied in order Y->X->Z such that R=RzRxRy. In aerial photogrammetric measurements this transformation corresponds to the POK sequence also called (Phi Omega Kappa) with Omega, Phi=Ry and Kappa=Rz. SMatrix.OrderZXY : Applied in order Z->X->Y such that R=RyRxRz. In terrestrial photogrammetric measurements this transformation corresponds to the POK sequence also called (Phi Omega Kappa) with Omega, Kappa=Ry and Phi=Rz.
	OriginPoint	translation done in space

◆ InitRot [2/2]

Array SMatrix::InitRot	(	SPoint	iAxisPt,
		SVector	iAxisVect,
		Number	iAngle,
		UnitEnum	iUnit
	)

slot

Sets the matrix for the rotation of an angle around an axis.

Return values

Array.ErrorCode

The error code

0: No error
1: Inconsistent data was entered, an identity matrix is initialized.

Parameters

[in]	iAxisPt	First point of the axis
[in]	iAxisVect	Vector of the axis
[in]	iAngle	Angle
[in]	iUnit	In which unit is expressed Angle SMatrix.RADIAN: Angle is in radians SMatrix.DEGREE: Angle is in degrees

◆ InitRPSAlignment

Array SMatrix::InitRPSAlignment	(	Array< SPoint >	TargetPoints,
		Array< SPoint >	SourcePoints,
		Array< Array< Boolean > >	XYZ_Constraints,
		Array< SCloud >	AssociatedClouds,
		Number	Neighborhood
	)

slot

Computes the RPS alignement matrix from given source and target points.

Note: Each list's number of points must be the same and point number i from both lists is assumed to match together.; Call ApplyTransformation() to apply the matrix transformation on mobile components

Return values

Array.ErrorCode

The error code:

0: OK (normal calculation).
1: An error occured.

Parameters

[in]	TargetPoints	Table of target points
[in]	SourcePoints	Table of departure points
[in]	XYZ_Constraints	; The X, Y and Z direction constraints (for RPS alignment)
[in]	AssociatedClouds	table of clouds associated with the Source points or null if no optimization on source points to do The better point nearest from SourcePoints will be used, the distance Neighborhood is used to find this point in the cloud
[in]	Neighborhood	The distance to which mobile points can be adjusted

◆ InitScale

SMatrix::InitScale	(	SPoint	ScaleCenter,
		Number	XScale,
		Number	YScale,
		Number	ZScale
	)

slot

Sets the matrix for a different scale ratio along X, Y and Z with a center.

Parameters

[in]	ScaleCenter	Scale center
[in]	XScale	X scale
[in]	YScale	Y scale
[in]	ZScale	Z scale

◆ IsIdentity

Boolean SMatrix::IsIdentity ( )

slot

Return values

true	The matrix is the identity
false	The matrix is not the identity

◆ New [1/5]

static SMatrix SMatrix::New ( )

staticslot

Default constructor. The matrix is initialized to the unitary matrix. The vector is the null vector.

◆ New [2/5]

static SMatrix SMatrix::New	(	Array< Number >	Row1,
		Array< Number >	Row2,
		Array< Number >	Row3
	)

staticslot

Constructor to define a matrix by defining its rows.

Parameters

[in]	Row1	the 4 data of the first row
[in]	Row2	the 4 data of the second row
[in]	Row3	the 4 data of the third row

◆ New [3/5]

static SMatrix SMatrix::New ( SMatrix Other )

staticslot

Constructs a SMatrix by copying the SMatrix Other.

◆ New [4/5]

static SMatrix SMatrix::New	(	SPoint	AxisPt,
		SVector	AxisVect,
		Number	Angle,
		UnitEnum	Unit
	)

staticslot

Constructor to set a rotation matrix of an angle around an axis. If the input data are not coherent, the matrix returned is the identity.

Parameters

[in]	AxisPt	First point of the axis
[in]	AxisVect	Vector of the axis
[in]	Angle	Angle
[in]	Unit	in which unit is expressed Angle SMatrix.RADIAN: Angle is in radians SMatrix.DEGREE: Angle is in degrees

◆ New [5/5]

static SMatrix SMatrix::New ( SVector TranslateVector )

staticslot

Constructor. The SMatrix obtained is a pure translation.

◆ SaveArmCoordinateSystem

Array SMatrix::SaveArmCoordinateSystem	(	Number	Index,
		SMatrix	NewMatrix
	)

slot

Save a Matrix as a Coordinate System. If a matrix exists at the input index, it will be deleted.

Return values

Array.ErrorCode

The error code

0: No error
1: The index is invalid

Parameters

[in]	Index	index of the CS to update (1 to 9)
[in]	NewMatrix	new matrix

◆ toString [1/2]

String SMatrix::toString ( )

slot

Get the type of the variable.

◆ toString [2/2]

static String SMatrix::toString ( )

staticslot

Get the type of the variable.

◆ UpdateArmCoordinateSystem

Array SMatrix::UpdateArmCoordinateSystem	(	Number	Index,
		SMatrix	NewMatrix
	)

slot

Update the matrix at the input index, by multiplying the current matrix by the input matrix.

Return values

Array.ErrorCode

The error code

0: No error
1: The index is invalid

Parameters

[in]	Index	index of the CS to update (1 to 9)
[in]	NewMatrix	new matrix

◆ UpdateUCS

Number SMatrix::UpdateUCS ( String Name )

slot

Update with the current matrix the UCS found with the given name.

Note: The matrix used for the update should not have null rows. Also, the vectors created from the rows should not be parallel.

Return values

0	There is no error
1	There are more than one UCS with the given name or this is the WCS
2	The matrix is not well defined

◆ ValuesToString

String SMatrix::ValuesToString ( )

slot

Get a string representation of the point.

Public Types

Public Slots

Detailed Description

Member Enumeration Documentation

◆ ConstraintFlag

◆ SequenceEnum

◆ UnitEnum

Member Function Documentation

◆ AddToDocAsUCS

◆ ApplyTransformation

◆ BestFitCompute

◆ FromActiveCS

◆ FromUCS

◆ GetArmCoordinateSystem

◆ GetEuler

◆ GetValue

◆ InitAlign [1/2]

◆ InitAlign [2/2]

◆ InitAutoRoughAlign

◆ InitBestAlign

◆ InitBestRotate

◆ InitBestTranslate

◆ InitIdentity

◆ InitInverse

◆ InitMirrorAxis

◆ InitMirrorPlane

◆ InitMirrorPnt

◆ InitQuaternion

◆ InitRot [1/2]

◆ InitRot [2/2]

◆ InitRPSAlignment

◆ InitScale

◆ IsIdentity

◆ New [1/5]

◆ New [2/5]

◆ New [3/5]

◆ New [4/5]

◆ New [5/5]

◆ SaveArmCoordinateSystem

◆ toString [1/2]

◆ toString [2/2]

◆ UpdateArmCoordinateSystem

◆ UpdateUCS

◆ ValuesToString