LinearAlgebra.h File Reference

#include <sstream>
#include <nuklei/Random.h>
#include <nuklei/BoostSerialization.h>
#include <nuklei/Common.h>
#include <nuklei/Math.h>

Go to the source code of this file.

Namespaces
	nuklei
	Public namespace.
	nuklei::la
	Namespace containing linear algebra functions (and some other functions).

Functions
Quaternion	nuklei::la::quaternionCopy (const Matrix3 &m)
Matrix3	nuklei::la::matrixCopy (const Quaternion &q)
Quaternion	nuklei::la::quaternionCopy (const Quaternion &q)
Matrix3	nuklei::la::matrixCopy (const Matrix3 &m)
void	nuklei::la::copyRotation (Quaternion &q, const Matrix3 &m)
void	nuklei::la::copyRotation (Matrix3 &m, const Quaternion &q)
void	nuklei::la::copyRotation (Quaternion &q, const Quaternion &q2)
void	nuklei::la::copyRotation (Matrix3 &m, const Matrix3 &m2)
GVector	nuklei::la::gVectorCopy (const GVector &v)
GVector	nuklei::la::gVectorCopy (const Vector3 &v)
Vector3	nuklei::la::vector3Copy (const Vector3 &v)
Vector3	nuklei::la::vector3Copy (const GVector &v)
std::istream &	nuklei::operator>> (std::istream &in, Vector3 &l)
std::istream &	nuklei::operator>> (std::istream &in, Quaternion &q)
std::ostream &	nuklei::operator<< (std::ostream &out, const Quaternion &q)
std::ostream &	nuklei::operator<< (std::ostream &out, const Matrix3 &m)
std::istream &	nuklei::operator>> (std::istream &in, Matrix3 &m)
std::ostream &	nuklei::operator<< (std::ostream &out, const GMatrix &m)
std::istream &	nuklei::operator>> (std::istream &in, GMatrix &m)
Vector3	nuklei::la::normalized (const Vector3 &v)
Quaternion	nuklei::la::normalized (const Quaternion &q)
Matrix3	nuklei::la::normalized (const Matrix3 &m)
void	nuklei::la::makeZero (Vector3 &v)
void	nuklei::la::makeIdentity (Matrix3 &m)
void	nuklei::la::makeIdentity (Quaternion &q)
Vector3	nuklei::la::min (const Vector3 &v1, const Vector3 &v2)
Vector3	nuklei::la::max (const Vector3 &v1, const Vector3 &v2)
Vector3	nuklei::la::mean (const Vector3 &v1, const Vector3 &v2)
Vector3	nuklei::la::xAxis (const Quaternion &q)
Vector3	nuklei::la::xAxis (const Matrix3 &m)
coord_t	nuklei::la::numDrift (const Quaternion &q)
coord_t	nuklei::la::numDrift (const Matrix3 &m)
void	nuklei::la::check (const Quaternion &q, const char *msg)
void	nuklei::la::check (const Matrix3 &m, const char *msg)
Quaternion	nuklei::la::inverseRotation (const Quaternion &q)
Matrix3	nuklei::la::inverseRotation (const Matrix3 &m)
Quaternion	nuklei::la::slerp (double c, const Quaternion &q1, const Quaternion &q2)
Matrix3	nuklei::la::slerp (double c, const Matrix3 &m1, const Matrix3 &m2)
Quaternion	nuklei::la::mean (const Quaternion &q1, const Quaternion &q2)
Matrix3	nuklei::la::mean (const Matrix3 &m1, const Matrix3 &m2)
Quaternion	nuklei::la::so3FromS2 (const Vector3 &w)
void	nuklei::la::eigenDecomposition (Matrix3 &eVectors, Vector3 &eValues, const Matrix3 &sym)
double	nuklei::la::determinant (const GMatrix &m)
GMatrix	nuklei::la::inverse (const GMatrix &m)
Vector3	nuklei::la::transform (const Vector3 &x, const Matrix3 &X, const Vector3 &y)
	Returns \( Xy + x \).
Vector3	nuklei::la::transform (const Vector3 &x, const Quaternion &X, const Vector3 &y)
	Returns \( Xy + x \).
void	nuklei::la::transform (Vector3 &z, Matrix3 &Z, const Vector3 &x, const Matrix3 &X, const Vector3 &y, const Matrix3 &Y)
	\( z = X y + x, Z = X Y \).
void	nuklei::la::transform (Vector3 &z, Quaternion &Z, const Vector3 &x, const Quaternion &X, const Vector3 &y, const Quaternion &Y)
	\( z = X y + x, Z = X Y \).
void	nuklei::la::transform (Vector3 &z, Vector3 &Z, const Vector3 &x, const Matrix3 &X, const Vector3 &y, const Vector3 &Y)
	\( z = X y + x, Z = X Y \).
void	nuklei::la::transform (Vector3 &z, Vector3 &Z, const Vector3 &x, const Quaternion &X, const Vector3 &y, const Vector3 &Y)
	\( z = X y + x, Z = X Y \).
Vector3	nuklei::la::project (const Vector3 &x, const Matrix3 &X, const Vector3 &z)
	Returns \( X^T (z-x) \).
Vector3	nuklei::la::project (const Vector3 &x, const Quaternion &X, const Vector3 &z)
	Returns \( X^T (z-x) \).
void	nuklei::la::project (Vector3 &y, Matrix3 &Y, const Vector3 &x, const Matrix3 &X, const Vector3 &z, const Matrix3 &Z)
	\( y = X^T (z-x), Y = X^T Z \).
void	nuklei::la::project (Vector3 &y, Quaternion &Y, const Vector3 &x, const Quaternion &X, const Vector3 &z, const Quaternion &Z)
	\( y = X^T (z-x), Y = X^T Z \).
void	nuklei::la::project (Vector3 &y, Vector3 &Y, const Vector3 &x, const Matrix3 &X, const Vector3 &z, const Vector3 &Z)
	\( y = X^T (z-x), Y = X^T Z \).
void	nuklei::la::project (Vector3 &y, Vector3 &Y, const Vector3 &x, const Quaternion &X, const Vector3 &z, const Vector3 &Z)
	\( y = X^T (z-x), Y = X^T Z \).
void	nuklei::la::transfoTo (Vector3 &x, Matrix3 &X, const Vector3 &y, const Matrix3 &Y, const Vector3 &z, const Matrix3 &Z)
	\( x = z - Z Y^T y, X = Z Y^T \)
void	nuklei::la::transfoTo (Vector3 &x, Quaternion &X, const Vector3 &y, const Quaternion &Y, const Vector3 &z, const Quaternion &Z)
	\( x = z - Z Y^T y, X = Z Y^T \)
template<class R >
void	nuklei::la::fromAngleAxisString (R &r, const std::string &angleAxis)
template<class R >
std::string	nuklei::la::toAngleAxisString (const R &r)
coord_t	nuklei::multivariateGaussian (const GVector &x, const GVector &m, const GMatrix &cov, const weight_t w=1)
template<class Archive >
NUKLEI_SERIALIZATION_NAMESPACE_BEGIN void	serialize (Archive &ar, nuklei_wmf::Vector3< nuklei::coord_t > &v, const unsigned int version)
template<class Archive >
void	serialize (Archive &ar, nuklei_wmf::Quaternion< nuklei::coord_t > &q, const unsigned int version)
template<class Archive >
void	serialize (Archive &ar, nuklei_wmf::Matrix3< nuklei::coord_t > &m, const unsigned int version)