Hmatrix (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- dynamics.utilities.Hmatrix

```
public class Hmatrix
extends Object
```

Field Summary

Fields
Modifier and Type Field and Description

double[][] htmatrix

Fields
Modifier and Type	Field and Description
`double[][]`	`htmatrix`

Constructor Summary

Constructors
Constructor and Description
`Hmatrix()`
`Hmatrix(double x, double y, double z, double phi, double theta, double psi)`
`Hmatrix(Hmatrix input_hmatrix)`
`Hmatrix(Vector3D position_Vector3D, double phi, double theta, double psi)`
`Hmatrix(Vector3D position_Vector3D, Vector3D eulerangles3D)`

Method Summary

Methods
Modifier and Type	Method and Description
`Vector3D`	`camera()`
`double`	`element(int row, int column)`
`void`	`equals(Hmatrix matrix2)`
`void`	`incremental_rotation(double phi_dot, double theta_dot, double psi_dot, double delta_t)`
`void`	`incremental_translation(double x_dot, double y_dot, double z_dot, double delta_t)`
`void`	`incremental_translation(Vector3D velocities3D, double delta_t)`
`double`	`matrix_value(int row, int column)`
`void`	`move_camera(Vector3D translation3D)`
`Vector3D`	`mult_4(Vector3D v_rhs)`
`void`	`mult(Hmatrix matrix2)`
`Vector3D`	`mult(Vector3D v_rhs)`
`double`	`phi_value()`
`Vector3D`	`position()`
`void`	`print_hmatrix()`
`double`	`psi_value()`
`void`	`rotate_x(double phi)`
`void`	`rotate_y(double theta)`
`void`	`rotate_z(double psi)`
`void`	`rotate(double phi, double theta, double psi)`
`void`	`rotate(Vector3D rotation3D)`
`double`	`scale()`
`void`	`set_all_scales(double scale_x, double scale_y, double scale_z, double scale_global)`
`void`	`set_camera(Vector3D translation3D)`
`void`	`set_identity()`
`void`	`set_orientation(double phi, double theta, double psi)`
`void`	`set_position(Vector3D translation3D)`
`void`	`set_posture(Vector3D translation3D, double phi, double theta, double psi)`
`void`	`set_scale(double scale_global)`
`double`	`theta_value()`
`void`	`translate(double delta_x, double delta_y, double delta_z)`
`void`	`translate(Vector3D translation3D)`
`Hmatrix`	`transpose()`
`double`	`x_value()`
`double`	`y_value()`
`double`	`z_value()`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail
- htmatrix
```
public double[][] htmatrix
```

Constructor Detail

Hmatrix
```
public Hmatrix()
```

Hmatrix

public Hmatrix(double x,
       double y,
       double z,
       double phi,
       double theta,
       double psi)

Hmatrix

public Hmatrix(Vector3D position_Vector3D,
       double phi,
       double theta,
       double psi)

Hmatrix

public Hmatrix(Vector3D position_Vector3D,
       Vector3D eulerangles3D)

Hmatrix
```
public Hmatrix(Hmatrix input_hmatrix)
```

Method Detail

equals
```
public void equals(Hmatrix matrix2)
```

mult
```
public void mult(Hmatrix matrix2)
```

mult
```
public Vector3D mult(Vector3D v_rhs)
```

mult_4

public Vector3D mult_4(Vector3D v_rhs)

print_hmatrix
```
public void print_hmatrix()
```

matrix_value

public double matrix_value(int row,
                  int column)

phi_value
```
public double phi_value()
```

theta_value
```
public double theta_value()
```

psi_value
```
public double psi_value()
```

x_value
```
public double x_value()
```

y_value
```
public double y_value()
```

z_value
```
public double z_value()
```

position
```
public Vector3D position()
```

camera
```
public Vector3D camera()
```

scale
```
public double scale()
```

element

public double element(int row,
             int column)

transpose
```
public Hmatrix transpose()
```

rotate

public void rotate(double phi,
          double theta,
          double psi)

rotate

public final void rotate(Vector3D rotation3D)

rotate_x
```
public void rotate_x(double phi)
```

rotate_y
```
public void rotate_y(double theta)
```

rotate_z
```
public void rotate_z(double psi)
```

incremental_rotation

public void incremental_rotation(double phi_dot,
                        double theta_dot,
                        double psi_dot,
                        double delta_t)

translate

public void translate(double delta_x,
             double delta_y,
             double delta_z)

translate

public final void translate(Vector3D translation3D)

incremental_translation

public void incremental_translation(double x_dot,
                           double y_dot,
                           double z_dot,
                           double delta_t)

incremental_translation

public void incremental_translation(Vector3D velocities3D,
                           double delta_t)

set_identity
```
public final void set_identity()
```

set_posture

public void set_posture(Vector3D translation3D,
               double phi,
               double theta,
               double psi)

set_orientation

public void set_orientation(double phi,
                   double theta,
                   double psi)

set_position

public void set_position(Vector3D translation3D)

set_camera

public void set_camera(Vector3D translation3D)

move_camera

public void move_camera(Vector3D translation3D)

set_all_scales

public void set_all_scales(double scale_x,
                  double scale_y,
                  double scale_z,
                  double scale_global)

set_scale

public void set_scale(double scale_global)

Class Hmatrix

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

htmatrix

Constructor Detail

Hmatrix

Hmatrix

Hmatrix

Hmatrix

Hmatrix

Method Detail

equals

mult

mult

mult_4

print_hmatrix

matrix_value

phi_value

theta_value

psi_value

x_value

y_value

z_value

position

camera

scale

element

transpose

rotate

rotate

rotate_x

rotate_y

rotate_z

incremental_rotation

translate

translate

incremental_translation

incremental_translation

set_identity

set_posture

set_orientation

set_position

set_camera

move_camera

set_all_scales

set_scale