org.firstinspires.ftc.robotcore.external.matrices

Class MatrixF

java.lang.Object

org.firstinspires.ftc.robotcore.external.matrices.MatrixF

Direct Known Subclasses:

ColumnMatrixF, DenseMatrixF, RowMatrixF, SliceMatrixF

public abstract class MatrixF
extends java.lang.Object

MatrixF represents a matrix of floats of a defined dimensionality but abstracts the means by which a particular element of the matrix is retrieved or updated. MatrixF is an abstract class: it is never instantiated; rather, only instances of its subclasses are made.

See Also:

Matrix (mathematics), Matrix multiplication, OpenGLMatrix, GeneralMatrixF, SliceMatrixF

Field Summary

Fields

Modifier and Type	Field and Description
protected int	numCols
protected int	numRows

Constructor Summary

Constructors

Constructor and Description
MatrixF(int numRows, int numCols) Creates a matrix containing the indicated number of rows and columns.

Method Summary

Modifier and Type	Method and Description
protected VectorF	adaptHomogeneous(VectorF him) Automatically adapts vectors to and from homogeneous coordinates according to the size of the receiver matrix.
void	add(float[] him)
void	add(MatrixF addend) Adds a matrix, in place, to the receiver
void	add(VectorF him)
MatrixF	added(float[] him)
MatrixF	added(MatrixF addend) Returns a new matrix whose elements are the sum of the corresponding elements of the receiver and the addend
MatrixF	added(VectorF him)
static MatrixF	diagonalMatrix(int dim, float scale) Returns a new matrix which is zero everywhere except on the diagonal, where it has an indicated value.
static MatrixF	diagonalMatrix(VectorF vector) Returns a new matrix which is zero everywhere, except on the diagonal, where its values are taken from an indicated vector
protected java.lang.RuntimeException	dimensionsError()
protected static java.lang.RuntimeException	dimensionsError(int numRows, int numCols)
abstract MatrixF	emptyMatrix(int numRows, int numCols) Returns a new empty matrix of the indicated dimensions.
java.lang.String	formatAsTransform() A simple utility that extracts positioning information from a transformation matrix and formats it in a form palatable to a human being.
java.lang.String	formatAsTransform(AxesReference axesReference, AxesOrder axesOrder, AngleUnit unit) A simple utility that extracts positioning information from a transformation matrix and formats it in a form palatable to a human being.
abstract float	get(int row, int col) Returns a particular element of this matrix
VectorF	getColumn(int col) Returns a vector containing data of a particular column of the receiver.
VectorF	getRow(int row) Returns a vector containing data of a particular row of the receiver.
VectorF	getTranslation() Assumes that the receiver is non-perspective transformation matrix.
static MatrixF	identityMatrix(int dim) Returns an identity matrix of the indicated dimension.
MatrixF	inverted() Returns a matrix which is the matrix-multiplication inverse of the receiver.
MatrixF	multiplied(float scale) Returns a new matrix in which all the entries of the receiver have been scaled by an indicated value.
VectorF	multiplied(float[] him) Multiplies the receiver by the indicated vector, considered as a column matrix.
MatrixF	multiplied(MatrixF him) Returns a matrix which is the multiplication of the recevier with another matrix.
VectorF	multiplied(VectorF him) Multiplies the receiver by the indicated vector, considered as a column matrix.
void	multiply(float scale)
void	multiply(float[] him)
void	multiply(MatrixF him) Updates the receiver to be the product of itself and another matrix.
void	multiply(VectorF him)
int	numCols() Returns the number of columns in this matrix
int	numRows() Returns the number of rows in this matrix
abstract void	put(int row, int col, float value) Updates a particular element of this matrix
SliceMatrixF	slice(int numRows, int numCols) Returns a matrix which is a submatrix of the receiver starting at (0,0)
SliceMatrixF	slice(int row, int col, int numRows, int numCols) Returns a matrix which a submatrix of the receiver.
void	subtract(float[] him)
void	subtract(MatrixF subtrahend) Subtracts a matrix, in place, from the receiver.
void	subtract(VectorF him)
MatrixF	subtracted(float[] him)
MatrixF	subtracted(MatrixF subtrahend) Returns a new matrix whose elements are the difference of the corresponding elements of the receiver and the subtrahend
MatrixF	subtracted(VectorF him)
java.lang.String	toString()
VectorF	toVector() If the receiver is one-dimensional in one of its dimensions, returns a vector containing the data of the receiver; otherwise, an exception is thrown.
VectorF	transform(VectorF him) Transforms the vector according to this matrix interpreted as a transformation matrix.
MatrixF	transposed() Returns a matrix which is the transposition of the receiver matrix.

Methods inherited from class java.lang.Object

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

Field Detail

numRows

protected int numRows

numCols

protected int numCols

Constructor Detail

MatrixF

public MatrixF(int numRows,
               int numCols)

Creates a matrix containing the indicated number of rows and columns.

Method Detail

slice

@Const
public SliceMatrixF slice(int row,
                                  int col,
                                  int numRows,
                                  int numCols)

Returns a matrix which a submatrix of the receiver.

Parameters:

row - the row in the receiver at which the submatrix is to start

col - the column in the receiver at which the submatrix is to start

numRows - the number of rows in the submatrix

numCols - the number of columns in the submatrix

Returns:

the newly created submatrix

See Also:

slice(int, int)

slice

@Const
public SliceMatrixF slice(int numRows,
                                  int numCols)

Returns a matrix which is a submatrix of the receiver starting at (0,0)

Parameters:

numRows - the number of rows in the submatrix

numCols - the number of columns in the submatrix

Returns:

the newly created submatrix

See Also:

slice(int, int, int, int)

identityMatrix

public static MatrixF identityMatrix(int dim)

Returns an identity matrix of the indicated dimension. An identity matrix is zero everywhere except on the diagonal, where it is one.

Parameters:

dim - the size of the indentity matrix to return

Returns:

the new identity matrix

diagonalMatrix

public static MatrixF diagonalMatrix(int dim,
                                     float scale)

Returns a new matrix which is zero everywhere except on the diagonal, where it has an indicated value.

Parameters:

dim - the size of the matrix to return

scale - the value to place on its diagonal

Returns:

the new matrix

diagonalMatrix

public static MatrixF diagonalMatrix(VectorF vector)

Returns a new matrix which is zero everywhere, except on the diagonal, where its values are taken from an indicated vector

Parameters:

vector - the values to place on the diagonal

Returns:

the new matrix

emptyMatrix

@Const
public abstract MatrixF emptyMatrix(int numRows,
                                            int numCols)

Returns a new empty matrix of the indicated dimensions. If a specific implementation associated with the receiver can be used with these dimensions, then such is used; otherwise a general matrix implementation will be used.

Returns:

a new empty matrix of the indicated dimensions

See Also:

OpenGLMatrix.emptyMatrix(int, int)

numRows

@Const
public int numRows()

Returns the number of rows in this matrix

Returns:

the number of rows in this matrix

numCols

@Const
public int numCols()

Returns the number of columns in this matrix

Returns:

the number of columns in this matrix

get

@Const
public abstract float get(int row,
                                  int col)

Returns a particular element of this matrix

Parameters:

row - the index of the row of the element to return

col - the index of the column of the element to return

Returns:

the element at the indicated row and column

See Also:

put(int, int, float)

put

@NonConst
public abstract void put(int row,
                                    int col,
                                    float value)

Updates a particular element of this matrix

Parameters:

row - the index of the row of the element to update

col - the index of the column of the element to update

value - the new value for the indicated element

getRow

@Const
public VectorF getRow(int row)

Returns a vector containing data of a particular row of the receiver.

Parameters:

row - the row to extract

Returns:

a vector containing the data of the indicated row

getColumn

@Const
public VectorF getColumn(int col)

Returns a vector containing data of a particular column of the receiver.

Parameters:

col - the column to extract

Returns:

a vector containing data of the indicated column

toString

@Const
public java.lang.String toString()

Overrides:

toString in class java.lang.Object

transform

@Const
public VectorF transform(VectorF him)

Transforms the vector according to this matrix interpreted as a transformation matrix. Conversion to homogeneous coordinates is automatically provided.

Parameters:

him - the 3D coordinate or 3D homogeneous coordinate that is to be transformed

Returns:

the normalized homogeneous coordinate resulting from the transformation.

See Also:

Homogeneous coordinates, Transformation Matrix, VectorF.normalized3D()

adaptHomogeneous

@Const
protected VectorF adaptHomogeneous(VectorF him)

Automatically adapts vectors to and from homogeneous coordinates according to the size of the receiver matrix.

See Also:

transform(VectorF), Homogeneous coordinates

formatAsTransform

public java.lang.String formatAsTransform()

A simple utility that extracts positioning information from a transformation matrix and formats it in a form palatable to a human being. This should only be invoked on a matrix which is a transformation matrix. We report here using an extrinsic angle reference, meaning that all three angles are rotations in the (fixed) field coordinate system, as this is perhaps easiest to conceptually understand. And we use an angle order of XYZ, which results in the Z angle, being applied last (after X and Y rotations) and so representing the robot's heading on the field, which is often what is of most interest in robot navigation.

Returns:

a description of the angles represented by this transformation matrix.

See Also:

formatAsTransform(AxesReference, AxesOrder, AngleUnit), Transformation Matrix

formatAsTransform

public java.lang.String formatAsTransform(AxesReference axesReference,
                                          AxesOrder axesOrder,
                                          AngleUnit unit)

A simple utility that extracts positioning information from a transformation matrix and formats it in a form palatable to a human being. This should only be invoked on a matrix which is a transformation matrix.

Parameters:

axesReference - the reference frame of the angles to use in reporting the transformation

axesOrder - the order of the angles to use in reporting the transformation

unit - the angular unit to use in reporting the transformation

Returns:

a description of the angles represented by this transformation matrix.

See Also:

formatAsTransform(), Transformation Matrix

transposed

@Const
public MatrixF transposed()

Returns a matrix which is the transposition of the receiver matrix.

Returns:

a matrix which is the transposition of the receiver matrix.

multiply

@NonConst
public void multiply(MatrixF him)

Updates the receiver to be the product of itself and another matrix.

Parameters:

him - the matrix with which the receiver is to be multiplied.

multiplied

@Const
public MatrixF multiplied(MatrixF him)

Returns a matrix which is the multiplication of the recevier with another matrix.

Parameters:

him - the matrix with which the receiver is to be multiplied.

Returns:

a matrix which is the product of the two matrices

multiplied

@Const
public MatrixF multiplied(float scale)

Returns a new matrix in which all the entries of the receiver have been scaled by an indicated value.

Parameters:

scale - the factor with which to scale each entry of the receiver

Returns:

the new, scaled matrix

multiply

@NonConst
public void multiply(float scale)

multiplied

@Const
public VectorF multiplied(VectorF him)

Multiplies the receiver by the indicated vector, considered as a column matrix.

Parameters:

him - the vector with which the receiver is to be multiplied

Returns:

a matrix which is the product of the receiver and the vector

multiply

@NonConst
public void multiply(VectorF him)

multiplied

@Const
public VectorF multiplied(float[] him)

Multiplies the receiver by the indicated vector, considered as a column matrix.

Parameters:

him - the vector with which the receiver is to be multiplied

Returns:

a matrix which is the product of the receiver and the vector

multiply

@NonConst
public void multiply(float[] him)

toVector

@Const
public VectorF toVector()

If the receiver is one-dimensional in one of its dimensions, returns a vector containing the data of the receiver; otherwise, an exception is thrown.

Returns:

a vector containing the data of the receiver

added

@Const
public MatrixF added(MatrixF addend)

Returns a new matrix whose elements are the sum of the corresponding elements of the receiver and the addend

Parameters:

addend - the matrix which is to be added to the receiver

Returns:

the new matrix

add

@NonConst
public void add(MatrixF addend)

Adds a matrix, in place, to the receiver

Parameters:

addend - the matrix which is to be added to the receiver

subtracted

@Const
public MatrixF subtracted(MatrixF subtrahend)

Returns a new matrix whose elements are the difference of the corresponding elements of the receiver and the subtrahend

Parameters:

subtrahend - the matrix which is to be subtracted from the receiver

Returns:

the new matrix

subtract

@NonConst
public void subtract(MatrixF subtrahend)

Subtracts a matrix, in place, from the receiver.

Parameters:

subtrahend - the matrix which is to be subtracted from the receiver

added

@Const
public MatrixF added(VectorF him)

See Also:

added(MatrixF)

added

@Const
public MatrixF added(float[] him)

See Also:

added(VectorF)

subtracted

@Const
public MatrixF subtracted(VectorF him)

See Also:

subtracted(MatrixF)

subtracted

@Const
public MatrixF subtracted(float[] him)

See Also:

subtracted(VectorF)

add

@NonConst
public void add(VectorF him)

See Also:

add(MatrixF)

add

@NonConst
public void add(float[] him)

See Also:

add(VectorF)

subtract

@NonConst
public void subtract(VectorF him)

See Also:

subtract(MatrixF)

subtract

@NonConst
public void subtract(float[] him)

See Also:

subtract(VectorF)

getTranslation

@Const
public VectorF getTranslation()

Assumes that the receiver is non-perspective transformation matrix. Returns the translation component of the transformation.

Returns:

the translation component of the transformation

dimensionsError

protected java.lang.RuntimeException dimensionsError()

dimensionsError

protected static java.lang.RuntimeException dimensionsError(int numRows,
                                                            int numCols)

inverted

@Const
public MatrixF inverted()

Returns a matrix which is the matrix-multiplication inverse of the receiver.

Returns:

a matrix which is the matrix-multiplication inverse of the receiver