nuklei::la Namespace Reference

Namespace containing linear algebra functions (and some other functions). More...

Functions
void	eigenDecomposition (Matrix3 &eVectors, Vector3 &eValues, const Matrix3 &sym)
double	determinant (const GMatrix &m)
GMatrix	inverse (const GMatrix &m)
Quaternion	quaternionCopy (const Matrix3 &m)
Matrix3	matrixCopy (const Quaternion &q)
Quaternion	quaternionCopy (const Quaternion &q)
Matrix3	matrixCopy (const Matrix3 &m)
void	copyRotation (Quaternion &q, const Matrix3 &m)
void	copyRotation (Matrix3 &m, const Quaternion &q)
void	copyRotation (Quaternion &q, const Quaternion &q2)
void	copyRotation (Matrix3 &m, const Matrix3 &m2)
GVector	gVectorCopy (const GVector &v)
GVector	gVectorCopy (const Vector3 &v)
Vector3	vector3Copy (const Vector3 &v)
Vector3	vector3Copy (const GVector &v)
Vector3	normalized (const Vector3 &v)
Quaternion	normalized (const Quaternion &q)
Matrix3	normalized (const Matrix3 &m)
void	makeZero (Vector3 &v)
void	makeIdentity (Matrix3 &m)
void	makeIdentity (Quaternion &q)
Vector3	min (const Vector3 &v1, const Vector3 &v2)
Vector3	max (const Vector3 &v1, const Vector3 &v2)
Vector3	mean (const Vector3 &v1, const Vector3 &v2)
Vector3	xAxis (const Quaternion &q)
Vector3	xAxis (const Matrix3 &m)
coord_t	numDrift (const Quaternion &q)
coord_t	numDrift (const Matrix3 &m)
void	check (const Quaternion &q, const char *msg)
void	check (const Matrix3 &m, const char *msg)
Quaternion	inverseRotation (const Quaternion &q)
Matrix3	inverseRotation (const Matrix3 &m)
Quaternion	slerp (double c, const Quaternion &q1, const Quaternion &q2)
Matrix3	slerp (double c, const Matrix3 &m1, const Matrix3 &m2)
Quaternion	mean (const Quaternion &q1, const Quaternion &q2)
Matrix3	mean (const Matrix3 &m1, const Matrix3 &m2)
Quaternion	so3FromS2 (const Vector3 &w)
Vector3	transform (const Vector3 &x, const Matrix3 &X, const Vector3 &y)
	Returns \( Xy + x \).
Vector3	transform (const Vector3 &x, const Quaternion &X, const Vector3 &y)
	Returns \( Xy + x \).
void	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	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	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	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	project (const Vector3 &x, const Matrix3 &X, const Vector3 &z)
	Returns \( X^T (z-x) \).
Vector3	project (const Vector3 &x, const Quaternion &X, const Vector3 &z)
	Returns \( X^T (z-x) \).
void	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	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	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	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	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	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	fromAngleAxisString (R &r, const std::string &angleAxis)
template<class R >
std::string	toAngleAxisString (const R &r)

Detailed Description

Namespace containing linear algebra functions (and some other functions).