org.firstinspires.ftc.robotcore.external.matrices

Class OpenGLMatrix

java.lang.Object

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

org.firstinspires.ftc.robotcore.external.matrices.DenseMatrixF

org.firstinspires.ftc.robotcore.external.matrices.ColumnMajorMatrixF

org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix

public class OpenGLMatrix
extends ColumnMajorMatrixF

An OpenGLMatrix is a 4x4 matrix commonly used as a transformation matrix for 3D homogeneous coordinates. The data layout of an OpenGLMatrix is used heavily in the OpenGL high performance graphics standard.

See Also:

Homogenous coordinates, Transformation Matrix, Matrix, Matrix

Field Summary

Fields inherited from class org.firstinspires.ftc.robotcore.external.matrices.MatrixF

numCols, numRows

Constructor Summary

Constructors

Constructor and Description
OpenGLMatrix()
OpenGLMatrix(float[] data)
OpenGLMatrix(Matrix44F matrix)

Method Summary

Modifier and Type	Method and Description
MatrixF	emptyMatrix(int numRows, int numCols) Returns a new empty matrix of the indicated dimensions.
float[]	getData() Returns the contiguous array of floats which is the storage for this matrix
static OpenGLMatrix	identityMatrix()
OpenGLMatrix	inverted() Returns a matrix which is the matrix-multiplication inverse of the receiver.
MatrixF	multiplied(MatrixF him) Returns a matrix which is the multiplication of the recevier with another matrix.
OpenGLMatrix	multiplied(OpenGLMatrix him)
void	multiply(MatrixF him) Updates the receiver to be the product of itself and another matrix.
void	multiply(OpenGLMatrix him) Updates the receiver to be the product of itself and another matrix.
void	rotate(AngleUnit angleUnit, float angle, float dx, float dy, float dz)
void	rotate(AxesReference axesReference, AxesOrder axesOrder, AngleUnit angleUnit, float first, float second, float third)
OpenGLMatrix	rotated(AngleUnit angleUnit, float angle, float dx, float dy, float dz)
OpenGLMatrix	rotated(AxesReference axesReference, AxesOrder axesOrder, AngleUnit angleUnit, float first, float second, float third)
static OpenGLMatrix	rotation(AngleUnit angleUnit, float angle, float dx, float dy, float dz) Creates a matrix for rotation by the indicated angle around the indicated vector.
static OpenGLMatrix	rotation(AxesReference axesReference, AxesOrder axesOrder, AngleUnit angleUnit, float first, float second, float third) Creates a matrix for a rotation specified by three successive rotation angles.
void	scale(float scale)
void	scale(float scaleX, float scaleY, float scaleZ)
OpenGLMatrix	scaled(float scale)
OpenGLMatrix	scaled(float scaleX, float scaleY, float scaleZ)
void	translate(float dx, float dy, float dz)
OpenGLMatrix	translated(float dx, float dy, float dz)
static OpenGLMatrix	translation(float dx, float dy, float dz)
OpenGLMatrix	transposed() Returns a matrix which is the transposition of the receiver matrix.

Methods inherited from class org.firstinspires.ftc.robotcore.external.matrices.ColumnMajorMatrixF

indexFromRowCol, toVector

Methods inherited from class org.firstinspires.ftc.robotcore.external.matrices.DenseMatrixF

get, put

Methods inherited from class org.firstinspires.ftc.robotcore.external.matrices.MatrixF

adaptHomogeneous, add, add, add, added, added, added, diagonalMatrix, diagonalMatrix, dimensionsError, dimensionsError, formatAsTransform, formatAsTransform, getColumn, getRow, getTranslation, identityMatrix, multiplied, multiplied, multiplied, multiply, multiply, multiply, numCols, numRows, slice, slice, subtract, subtract, subtract, subtracted, subtracted, subtracted, toString, transform

Methods inherited from class java.lang.Object

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

Constructor Detail

OpenGLMatrix

public OpenGLMatrix()

OpenGLMatrix

public OpenGLMatrix(float[] data)

OpenGLMatrix

public OpenGLMatrix(Matrix44F matrix)

Method Detail

emptyMatrix

public MatrixF emptyMatrix(int numRows,
                           int numCols)

Description copied from class: MatrixF

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.

Specified by:

emptyMatrix in class MatrixF

Returns:

a new empty matrix of the indicated dimensions

See Also:

emptyMatrix(int, int)

rotation

public static OpenGLMatrix rotation(AngleUnit angleUnit,
                                    float angle,
                                    float dx,
                                    float dy,
                                    float dz)

Creates a matrix for rotation by the indicated angle around the indicated vector.

rotation

public static OpenGLMatrix rotation(AxesReference axesReference,
                                    AxesOrder axesOrder,
                                    AngleUnit angleUnit,
                                    float first,
                                    float second,
                                    float third)

Creates a matrix for a rotation specified by three successive rotation angles.

See Also:

Orientation.getRotationMatrix(AxesReference, AxesOrder, AngleUnit, float, float, float)

translation

public static OpenGLMatrix translation(float dx,
                                       float dy,
                                       float dz)

identityMatrix

public static OpenGLMatrix identityMatrix()

getData

public float[] getData()

Description copied from class: DenseMatrixF

Returns the contiguous array of floats which is the storage for this matrix

Specified by:

getData in class DenseMatrixF

Returns:

the contiguous array of floats which is the storage for this matrix

scale

@NonConst
public void scale(float scaleX,
                             float scaleY,
                             float scaleZ)

scale

@NonConst
public void scale(float scale)

translate

@NonConst
public void translate(float dx,
                                 float dy,
                                 float dz)

rotate

@NonConst
public void rotate(AngleUnit angleUnit,
                              float angle,
                              float dx,
                              float dy,
                              float dz)

rotate

@NonConst
public void rotate(AxesReference axesReference,
                              AxesOrder axesOrder,
                              AngleUnit angleUnit,
                              float first,
                              float second,
                              float third)

scaled

@Const
public OpenGLMatrix scaled(float scaleX,
                                   float scaleY,
                                   float scaleZ)

scaled

@Const
public OpenGLMatrix scaled(float scale)

translated

@Const
public OpenGLMatrix translated(float dx,
                                       float dy,
                                       float dz)

rotated

@Const
public OpenGLMatrix rotated(AngleUnit angleUnit,
                                    float angle,
                                    float dx,
                                    float dy,
                                    float dz)

rotated

@Const
public OpenGLMatrix rotated(AxesReference axesReference,
                                    AxesOrder axesOrder,
                                    AngleUnit angleUnit,
                                    float first,
                                    float second,
                                    float third)

inverted

@Const
public OpenGLMatrix inverted()

Description copied from class: MatrixF

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

Overrides:

inverted in class MatrixF

Returns:

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

transposed

@Const
public OpenGLMatrix transposed()

Description copied from class: MatrixF

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

Overrides:

transposed in class MatrixF

Returns:

a matrix which is the transposition of the receiver matrix.

multiplied

@Const
public OpenGLMatrix multiplied(OpenGLMatrix him)

multiplied

@Const
public MatrixF multiplied(MatrixF him)

Description copied from class: MatrixF

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

Overrides:

multiplied in class MatrixF

Parameters:

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

Returns:

a matrix which is the product of the two matrices

multiply

@NonConst
public void multiply(OpenGLMatrix 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.

multiply

@NonConst
public void multiply(MatrixF him)

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

Overrides:

multiply in class MatrixF

Parameters:

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