Struct parry3d::utils::SdpMatrix3

pub struct SdpMatrix3<N> {
    pub m11: N,
    pub m12: N,
    pub m13: N,
    pub m22: N,
    pub m23: N,
    pub m33: N,
}

A 3x3 symmetric-definite-positive matrix.

Fields

m11: N

The component at the first row and first column of this matrix.

m12: N

The component at the first row and second column of this matrix.

m13: N

The component at the first row and third column of this matrix.

m22: N

The component at the second row and second column of this matrix.

m23: N

The component at the second row and third column of this matrix.

m33: N

The component at the third row and third column of this matrix.

Implementations

impl<N: SimdRealField + Copy> SdpMatrix3<N>

pub fn new(m11: N, m12: N, m13: N, m22: N, m23: N, m33: N) -> Self

A new SDP 3x3 matrix with the given components.

Because the matrix is symmetric, only the lower off-diagonal components is required.

pub fn from_sdp_matrix(mat: Matrix3<N>) -> Self

Build an SdpMatrix3 structure from a plain matrix, assuming it is SDP.

No check is performed to ensure mat is actually SDP.

pub fn zero() -> Self

Create a new SDP matrix filled with zeros.

pub fn diagonal(val: N) -> Self

Create a new SDP matrix with its diagonal filled with val, and its off-diagonal elements set to zero.

pub fn is_zero(&self) -> bool

Are all components of this matrix equal to zero?

pub fn inverse_unchecked(&self) -> Self

Compute the inverse of this SDP matrix without performing any inversibility check.

pub fn quadform3x2(&self, m: &Matrix3x2<N>) -> SdpMatrix2<N>

Compute the quadratic form m.transpose() * self * m.

pub fn quadform(&self, m: &Matrix3<N>) -> Self

Compute the quadratic form m.transpose() * self * m.

pub fn add_diagonal(&self, elt: N) -> Self

Adds elt to the diagonal components of self.

Trait Implementations

impl<N: Add<N>> Add for SdpMatrix3<N>

type Output = SdpMatrix3<<N as Add>::Output>

The resulting type after applying the + operator.

fn add(self, rhs: SdpMatrix3<N>) -> Self::Output

Performs the + operation.

impl<N: Clone> Clone for SdpMatrix3<N>

fn clone(&self) -> SdpMatrix3<N>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N: Debug> Debug for SdpMatrix3<N>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<T> From<[SdpMatrix3<f32>; 4]> for SdpMatrix3<T>

where T: From<[Real; 4]>,

fn from(data: [SdpMatrix3<Real>; 4]) -> Self

Converts to this type from the input type.

impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3>, Const<1>, ArrayStorage<N, 3, 1>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3>, Const<1>, ArrayStorage<N, 3, 1>>

The resulting type after applying the * operator.

fn mul(self, rhs: Vector3<N>) -> Self::Output

Performs the * operation.

impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3>, Const<2>, ArrayStorage<N, 3, 2>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3>, Const<2>, ArrayStorage<N, 3, 2>>

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix3x2<N>) -> Self::Output

Performs the * operation.

impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3>, Const<3>, ArrayStorage<N, 3, 3>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3>, Const<3>, ArrayStorage<N, 3, 3>>

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix3<N>) -> Self::Output

Performs the * operation.

impl Mul<f32> for SdpMatrix3<Real>

type Output = SdpMatrix3<f32>

The resulting type after applying the * operator.

fn mul(self, rhs: Real) -> Self::Output

Performs the * operation.

impl<N: PartialEq> PartialEq for SdpMatrix3<N>

fn eq(&self, other: &SdpMatrix3<N>) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<N: Copy> Copy for SdpMatrix3<N>

impl<N> StructuralPartialEq for SdpMatrix3<N>