The matrix library contains classes and functions for common math operations used in modeling and simulation. More...

Collaboration diagram for The VR-Link Math Library (matrix):

Classes
class	Dt3dBoundingVolume
	A 3d bounding volume. More...

class	Dt3dChord
	A Dt3dChord is a finite line segment in 3-space, represented by its two 3d end points. More...

class	Dt3dExtent
	The Dt3dExtent represents an axis-aligned 3d bounding box. More...

class	Dt4dPoint
	Four-dimensional point, often used with homogeneous coordinates. More...

class	DtCoordTransform
	DtCoordTransform is used to transform locations, vectors and orientations from one Cartesian coordinate system to another. More...

class	DtCoordTranslation
	This class is used to translate between two points in Cartesian coordinate system. More...

class	DtDirectedRotRate
	Rotation rate given by single rate and axis of rotation. More...

class	DtGeodeticCoord
	Instances of DtGeodeticCoord are used to explicitly represent Geodetic coordinates. More...

class	DtSpheroid
	DtSpheroid represents an ellipsoid model of the earth. More...

class	DtMapDatum
	DtMapDatums represent a spheroid model of the earth, with a data shift to facilitate easy conversion to geocentric systems. More...

class	DtReferenceEllipsoid
	Instances of this class are used to store a particular mapDatum and perform useful calculations based on this map – specifically it can be used to convert between geodetic and geocentric coordinates using the given reference ellipsoid (which is defined by a DtMapDatum). More...

class	DtUtmCoord
	Instances of DtUtmCoord are used to represent UTM coordinates. More...

class	DtDegMinSec
	DtDegMinSec is a flyweight data class used to represent a a complex location for latitude or longitude in Degrees, Minutes, Seconds, and Direction where positive direction is north and west. More...

class	DtUtmReferencePoint
	DtUtmReferencePoints are used to represent an independent reference point for a UTM coordinate system. More...

class	DtDcm
	DtDcms are used to represent orientation for an object. More...

class	DtQuaternion
	Quaternions are used to represent orientation of an object. More...

class	DtTaitBryan
	DtTaitBryans are used to represent orientation of an object, using a set of three Euler angles. More...

class	DtVectorT< T >
	DtVectors represent vectors in 3-d space, X, Y, Z. More...

class	DtNetVector32
	A Network Byte Order layout using 32 bit floats for DtVector. More...

class	DtNetVector64
	A Network Byte Order layout using 64 bit floats for DtVector. More...

Namespaces
	GeographicLib
	The DtGeoidDatum class represents a geoid model of the Earth, where the model reflects the shape that the ocean surface would take under the influence of the gravity and rotation of the Earth.

Files
file	3dBoundingVolume.h
	This file declares Dt3dBoundingVolume.

file	3dChord.h
	This file declares Dt3dChord.

file	3dExtent.h
	This file declares Dt3dExtent.

file	3dPoint.h
	This file declares Dt3dPoint.

file	4dPoint.h
	This file declares Dt4dPoint.

file	coordTransform.h
	This file provides a declaration for DtCoordTransform.

file	coordTranslation.h
	This file provides a declaration of the class DtCoordTranslation.

file	dcm.h
	This file is deprecated - please see vlDcm.h.

file	directedRotRate.h
	This file declares DtDirectedRotRate.

file	Euler.h
	This file is deprecated - please see vlTaitBryan.h.

file	geodeticCoord.h
	This file provides a definition of GeodeticCoords and several helper functions.

file	geoidDatum.h
	This file contains the declaration of the DtGeoidDatum class as well as commonly used geoids.

file	LibMatrix.h
	This file exists to provide backwards compatibility only, and may be removed in a future release.

file	mapDatum.h
	This file contains the declaration of the DtMapDatum class as well as commonly used DtMapDatums.

file	mathTypes.h
	This file has been deprecated, please use vlMath.h.

file	referenceEllipsoid.h
	This file contains the declaration of DtReferenceEllipsoid and several helper functions.

file	taitBryan.h
	This file is deprecated - please see vlTaitBryan.h.

file	topoCoord.h
	This file contains useful functions for geocentric to topographic conversions.

file	utmCoord.h
	This file declares DtUtmCoord.

file	utmReferencePoint.h
	This file declares DtDegMinSec and DtUtmReferencePoint.

file	vlDcm.h
	This file declares DtDcm and several helper classes and functions.

file	vlMath.h
	This file defines math constants and methods which may be useful in simulations.

file	vlQuaternion.h
	This file contains the definition of DtQuaternion as well as many functions which operate on DtQuaternions.

file	vlTaitBryan.h
	This file declares DtTaitBryan.

file	vlVector.h
	This file declares DtVector and DtVector32.

Enumerations
enum	DtVectorOffset { DtX, DtY, DtZ }
	A simple enumeration to represent Vector Offsets. More...

Functions
void	DtGeocentricToMgFlatEarth (const DtVector &in, DtVector &out, const DtFloat64 &refLat, DtFloat64 &refLon) const
	Preforms Multigen Flat Earth transforms from Geocentric Coordinates. More...

void	DtEulerToEuler (const DtTaitBryan &in, const DtDcm &in2out, DtTaitBryan *out)
	Given Euler angles with respect to reference frame "in", and the transformation matrix between frame "in" and frame "out", produce the Euler angles with respect to reference frame "out". More...

std::ostream &	operator<< (std::ostream &str, const DtTaitBryan &sr)

DtVector	operator+ (const DtVector &v1, const DtVector &v2)
	implements v1 + v2 More...

DtVector	operator- (const DtVector &v1, const DtVector &v2)
	implemented v1 - v2 More...

void	DtVecScale (const DtVector &v, double scale_factor, DtVector &result)

void	DtVecNeg (const DtVector &v1, DtVector &result)

double	DtVecCosProd (const DtVector &v1, const DtVector &v2)
	result = -vec More...

double	DtVecBoxProd (const DtVector &v1, const DtVector &v2, const DtVector &v3)
	sweep v1 to v2 to v3 More...

void	DtVecDcmMul (const DtVector &v, const DtDcm &m, DtVector &result)
	Multiplies a vector by a matrix and stores the result. More...

void	DtVV_Product (const DtVector &a, const DtVector &b, DtDcm &ans)

double	DtVecInfNorm (const DtVector &v1)

void	DtVecInit (DtVector &v)

DtVector	DtLerpVector (DtVector va, DtVector vb, double t)
	Initialize to all zeros. More...

void	DtVecCopy (const DtVector &from, DtVector &to)

int	DtVecCheck (const DtVector &v)

void	DtVecNormalize (const DtVector &v, DtVector &result)

void	DtVecCrossProd (const DtVector &v1, const DtVector &v2, DtVector &result)

double	DtVecDotProd (const DtVector &v1, const DtVector &v2)

void	DtVecDump (const char *str, const DtVector &v)

void	DtVecSub (const DtVector &v1, const DtVector &v2, DtVector &result)

void	DtVecAdd (const DtVector &v1, const DtVector &v2, DtVector &result)

DtVector	DtVelocityFromAToB (const DtVector &a, const DtVector &b, double time)
	DtVelocityFromAToB() Returns velocity you would need to be traveling at to get from point A to point B in t seconds. More...

double	DtHeadingFromAToB (const DtVector &a, const DtVector &b)
	Expects UTM coordinates. More...

double	DtDistance (const DtVector &p1, const DtVector &p2)

double	DtDistSqr (const DtVector &p1, const DtVector &p2)

DtVector64	DtVector32To64 (const DtVector32 &v32)
	Convert between DtVector64 and DtVector32. More...

Variables
DtThreeIndex	DtLevi_Civita

void	DtEuler_to_BodyToRef (const DtTaitBryan &euler, DtDcm &body2ref)

void	DtEuler_to_RefToBody (const DtTaitBryan &euler, DtDcm &ref2body)

void	DtBodyToRef_to_Euler (const DtDcm &body2ref, DtTaitBryan *euler)

void	DtRefToBody_to_Euler (const DtDcm &ref2body, DtTaitBryan *euler)

Detailed Description

The matrix library contains classes and functions for common math operations used in modeling and simulation.

The matrix library depends on the vlutil library.
On UNIX platforms the library is named libmatrix.so
On Windows the library is named matrix.dll, and matrixd.dll library.

Enumeration Type Documentation

enum DtVectorOffset

A simple enumeration to represent Vector Offsets.

Enumerator
DtX
DtY
DtZ

Function Documentation

void DtBodyToRef_to_Euler	(	const DtDcm &	body2ref,
		DtTaitBryan *	euler
	)

Given the transformation matrix that converts from a body frame to a reference frame (or visa-versa), produce the TaitBryan angles between the body and the reference frames.

double DtDistance	(	const DtVector &	p1,
		const DtVector &	p2
	)

double DtDistSqr	(	const DtVector &	p1,
		const DtVector &	p2
	)

void DtEuler_to_BodyToRef	(	const DtTaitBryan &	euler,
		DtDcm &	body2ref
	)

Given TaitBryan angles between a body and a reference frame, produce the transformation matrix that converts from the body frame to the reference frame (or visa-versa).

void DtEuler_to_RefToBody	(	const DtTaitBryan &	euler,
		DtDcm &	ref2body
	)

Given TaitBryan angles between a body and a reference frame, produce the transformation matrix that converts from the body frame to the reference frame (or visa-versa).

void DtEulerToEuler	(	const DtTaitBryan &	in,
		const DtDcm &	in2out,
		DtTaitBryan *	out
	)

Given Euler angles with respect to reference frame "in", and the transformation matrix between frame "in" and frame "out", produce the Euler angles with respect to reference frame "out".

void DtGeocentricToMgFlatEarth	(	const DtVector &	in,
		DtVector &	out,
		const DtFloat64 &	refLat,
		DtFloat64 &	refLon
	)		const

inline

Preforms Multigen Flat Earth transforms from Geocentric Coordinates.

The Multigen Flat Earth projection is a bit of a special case (its not treated in the same way a UTM projection is). It assumes the earth is spherical, with the radius given below. This function converts a given location from geocentric to flat-earth coordinates.

References DtGeodeticCoord::alt(), DtRad2Deg(), DtGeodeticCoord::lat(), DtGeodeticCoord::lon(), M_PI, DtGeodeticCoord::setGeocentric(), DtVectorT< T >::setX(), DtVectorT< T >::setY(), and DtVectorT< T >::setZ().

double DtHeadingFromAToB	(	const DtVector &	a,
		const DtVector &	b
	)

Expects UTM coordinates.

Standing at point A, returns the heading along which you would need to be looking to be facing point B.

DtVector DtLerpVector	(	DtVector	va,
		DtVector	vb,
		double	t
	)

Initialize to all zeros.

Linearly interpolates between two points. Inputs are start, stop, and percentage (0..1).

void DtRefToBody_to_Euler	(	const DtDcm &	ref2body,
		DtTaitBryan *	euler
	)

Given the transformation matrix that converts from a body frame to a reference frame (or visa-versa), produce the TaitBryan angles between the body and the reference frames.

void DtVecAdd	(	const DtVector &	v1,
		const DtVector &	v2,
		DtVector &	result
	)

Deprecated:: DtVecAdd is deprecated, use operator+ or DtVector::operator+= instead

double DtVecBoxProd	(	const DtVector &	v1,
		const DtVector &	v2,
		const DtVector &	v3
	)

sweep v1 to v2 to v3

int DtVecCheck ( const DtVector & v )

Deprecated:: DtVecCheck is deprecated, use vec.isNormalized();

void DtVecCopy	(	const DtVector &	from,
		DtVector &	to
	)

Deprecated:: DtVecCopy is deprecated, use the operator=() function.

double DtVecCosProd	(	const DtVector &	v1,
		const DtVector &	v2
	)

result = -vec

cos of angle between v1 and V2

void DtVecCrossProd	(	const DtVector &	v1,
		const DtVector &	v2,
		DtVector &	result
	)

Deprecated:: DtVecCrossProd is deprecated, use v1.crossProduct(v2);

void DtVecDcmMul	(	const DtVector &	v,
		const DtDcm &	m,
		DtVector &	result
	)

Multiplies a vector by a matrix and stores the result.

double DtVecDotProd	(	const DtVector &	v1,
		const DtVector &	v2
	)

Deprecated:: DtVecDotProd is deprecated, use v1.dotProd(v2)

void DtVecDump	(	const char *	str,
		const DtVector &	v
	)

Deprecated:: DtVecDump, use DtPrintAttribute, or the ostream operator for DtVector.

double DtVecInfNorm ( const DtVector & v1 )

void DtVecInit ( DtVector & v )

void DtVecNeg	(	const DtVector &	v1,
		DtVector &	result
	)

void DtVecNormalize	(	const DtVector &	v,
		DtVector &	result
	)

Deprecated:: DtVecNormalize is deprecated, use v.normalize();

void DtVecScale	(	const DtVector &	v,
		double	scale_factor,
		DtVector &	result
	)

void DtVecSub	(	const DtVector &	v1,
		const DtVector &	v2,
		DtVector &	result
	)

Deprecated:: DtVecSub is deprecated, use operator- or DtVector::operator-= instead

DtVector64 DtVector32To64 ( const DtVector32 & v32 )

Convert between DtVector64 and DtVector32.

DtVector DtVelocityFromAToB	(	const DtVector &	a,
		const DtVector &	b,
		double	time
	)

DtVelocityFromAToB() Returns velocity you would need to be traveling at to get from point A to point B in t seconds.

Independent of coordinate system.

void DtVV_Product	(	const DtVector &	a,
		const DtVector &	b,
		DtDcm &	ans
	)

DtVector operator+	(	const DtVector &	v1,
		const DtVector &	v2
	)

implements v1 + v2

DtVector operator-	(	const DtVector &	v1,
		const DtVector &	v2
	)

implemented v1 - v2

std::ostream& operator<<	(	std::ostream &	str,
		const DtTaitBryan &	sr
	)

Variable Documentation

DtThreeIndex DtLevi_Civita

Classes

Namespaces

Files

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation