RotationScaleMatrixReadOnly (euclid-core 0.5.1 API)

All Superinterfaces:

Matrix3DReadOnly

All Known Implementing Classes:

RotationScaleMatrix
```
public interface RotationScaleMatrixReadOnly
extends Matrix3DReadOnly
```
Read interface for 3-by-3 rotation-scale matrices.
A rotation-scale matrix M is equal to: M = R * S . Where R is a rotation matrix, and S is a scaling matrix as follows:
```
     / s_x 0 0 \
 S = | 0 s_y 0 |
     \ 0 0 s_z /
 
```
where s_x, s_y, and s_z three non-zero positive scale factors.

Note: To conserve the form M = R * S , the algebra with a rotation-scale matrix is rather restrictive. For instance, an rotation-scale matrix cannot be inverted. However, it can still perform the inverse of the transform it represents on geometry objects.

Method Summary

All Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method and Description
`default void`	`addTransform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)` Transforms the given tuple `tupleOriginal` by this matrix and add the result to `tupleTransformed`.
`default boolean`	`epsilonEquals(RotationScaleMatrixReadOnly other, double epsilon)` Tests the rotation parts and scales of both matrices are equal to an `epsilon`.
`default boolean`	`geometricallyEquals(RotationScaleMatrixReadOnly other, double epsilon)` Tests if `this` and `other` represent the same rotation-scale to an `epsilon`.
`default double`	`getM00()` Gets the 1st row 1st column coefficient of this matrix.
`default double`	`getM01()` Gets the 1st row 2nd column coefficient of this matrix.
`default double`	`getM02()` Gets the 1st row 3rd column coefficient of this matrix.
`default double`	`getM10()` Gets the 2nd row 1st column coefficient of this matrix.
`default double`	`getM11()` Gets the 2nd row 2nd column coefficient of this matrix.
`default double`	`getM12()` Gets the 2nd row 3rd column coefficient of this matrix.
`default double`	`getM20()` Gets the 3rd row 1st column coefficient of this matrix.
`default double`	`getM21()` Gets the 3rd row 2nd column coefficient of this matrix.
`default double`	`getM22()` Gets the 3rd row 3rd column coefficient of this matrix.
`default double`	`getMaxScale()` Retrieves the scale factor with the maximum value and returns it.
`default void`	`getRotation(org.ejml.data.DenseMatrix64F rotationMatrixToPack)` Packs the rotation part as a rotation matrix.
`default void`	`getRotation(double[] rotationMatrixArrayToPack)` Packs the rotation part as a rotation matrix and stores it into a row-major 1D array.
`default void`	`getRotation(Orientation3DBasics orientationToPack)` Packs the rotation part.
`default void`	`getRotation(Vector3DBasics rotationVectorToPack)` Packs the rotation part as an rotation vector.
`default void`	`getRotationEuler(Tuple3DBasics eulerAnglesToPack)` Packs the orientation described by the rotation part as the Euler angles.
`RotationMatrixReadOnly`	`getRotationMatrix()` Returns the read-only reference to the rotation matrix used to compose this rotation-scale matrix.
`default double`	`getRotationPitch()` Computes and returns the pitch angle from the yaw-pitch-roll representation of the rotation part.
`default double`	`getRotationRoll()` Computes and returns the roll angle from the yaw-pitch-roll representation of the rotation part.
`default double`	`getRotationYaw()` Computes and returns the yaw angle from the yaw-pitch-roll representation of the rotation part.
`default void`	`getRotationYawPitchRoll(double[] yawPitchRollToPack)` Packs the orientation described by the rotation part as the yaw-pitch-roll angles.
`Vector3DReadOnly`	`getScale()` Returns the read-only reference to the scale factors used to compose this rotation-scale matrix.
`default void`	`getScale(Tuple3DBasics scaleToPack)` Packs the scale factors in a tuple.
`default double`	`getScaleX()` Returns the current value of the first scale factor of this rotation-scale matrix.
`default double`	`getScaleY()` Returns the current value of the second scale factor of this rotation-scale matrix.
`default double`	`getScaleZ()` Returns the current value of the third scale factor of this rotation-scale matrix.
`default void`	`inverseTransform(Matrix3DReadOnly matrixOriginal, Matrix3D matrixTransformed)` Performs the inverse of the transforms to the given 3D matrix `matrixOriginal` by this matrix and stores the result in `matrixTransformed`.
`default void`	`inverseTransform(QuaternionBasics quaternionToTransform)` Performs the inverse of the transform to the given quaternion by the rotation part of this rotation-scale matrix.
`default void`	`inverseTransform(QuaternionReadOnly quaternionOriginal, QuaternionBasics quaternionTransformed)` Performs the inverse of the transform to the given quaternion `quaternionOriginal` and stores the result into `quaternionTransformed`.
`default void`	`inverseTransform(RotationMatrix matrixToTransform)` Performs the inverse of the transform to the given rotation matrix by the rotation part of this rotation-scale matrix.
`default void`	`inverseTransform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)` Transforms the given rotation matrix `matrixOriginal` by the rotation part of this rotation-scale matrix and stores the result in `matrixTransformed`.
`default void`	`inverseTransform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane)` Performs the inverse of the transform to the given tuple `tupleOriginal` by this matrix and stores the result in `tupleTransformed`.
`default void`	`inverseTransform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)` Performs the inverse of the transform to the given tuple `tupleOriginal` by this matrix and stores the result in `tupleTransformed`.
`default void`	`inverseTransform(Vector4DReadOnly vectorOriginal, Vector4DBasics vectorTransformed)` Performs the inverse of the transform to the vector part the given 4D vector `vectorOriginal` by this matrix and stores the result in `vectorTransformed`.
`default void`	`transform(Matrix3DReadOnly matrixOriginal, Matrix3D matrixTransformed)` Transforms the given 3D matrix `matrixOriginal` by this matrix and stores the result in `matrixTransformed`.
`default void`	`transform(QuaternionBasics quaternionToTransform)` Transforms the given quaternion by the rotation part of this rotation-scale matrix.
`default void`	`transform(QuaternionReadOnly quaternionOriginal, QuaternionBasics quaternionTransformed)` Transforms the given quaternion `quaternionOriginal` and stores the result into `quaternionTransformed`.
`default void`	`transform(RotationMatrix matrixToTransform)` Transforms the given rotation matrix by the rotation part of this rotation-scale matrix.
`default void`	`transform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)` Transforms the given rotation matrix `matrixOriginal` by the rotation part of this rotation-scale matrix and stores the result in `matrixTransformed`.
`default void`	`transform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane)` Transforms the given tuple `tupleOriginal` by this matrix and stores the result in `tupleTransformed`.
`default void`	`transform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)` Transforms the given tuple `tupleOriginal` by this matrix and stores the result in `tupleTransformed`.
`default void`	`transform(Vector4DReadOnly vectorOriginal, Vector4DBasics vectorTransformed)` Transforms the vector part of the given 4D vector `vectorOriginal` and stores the result into `vectorTransformed`.

Methods inherited from interface us.ihmc.euclid.matrix.interfaces.Matrix3DReadOnly
addTransform, checkIfMatrix2D, checkIfRotationMatrix, containsNaN, determinant, epsilonEquals, equals, get, get, get, get, getColumn, getColumn, getElement, getRow, getRow, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, isIdentity, isIdentity, isMatrix2D, isMatrix2D, isMatrixSkewSymmetric, isMatrixSkewSymmetric, isRotationMatrix, isRotationMatrix, transform, transform, transform, transform, transform, transform

- Method Detail
  - getRotationMatrix
```
RotationMatrixReadOnly getRotationMatrix()
```
    Returns the read-only reference to the rotation matrix used to compose this rotation-scale matrix.
    
    Returns:
    
    the read-only reference to the rotation matrix.
  - getScale
```
Vector3DReadOnly getScale()
```
    Returns the read-only reference to the scale factors used to compose this rotation-scale matrix.
    
    Returns:
    
    the read-only reference to the scale factors.
  - getScaleX
```
default double getScaleX()
```
    Returns the current value of the first scale factor of this rotation-scale matrix.
    
    Returns:
    
    the value of the first scale factor.
  - getScaleY
```
default double getScaleY()
```
    Returns the current value of the second scale factor of this rotation-scale matrix.
    
    Returns:
    
    the value of the second scale factor.
  - getScaleZ
```
default double getScaleZ()
```
    Returns the current value of the third scale factor of this rotation-scale matrix.
    
    Returns:
    
    the value of the third scale factor.
  - getM00
```
default double getM00()
```
    Gets the 1st row 1st column coefficient of this matrix.
    
    Specified by:
    
    getM00 in interface Matrix3DReadOnly
    
    Returns:
    
    the 1st row 1st column coefficient.
  - getM01
```
default double getM01()
```
    Gets the 1st row 2nd column coefficient of this matrix.
    
    Specified by:
    
    getM01 in interface Matrix3DReadOnly
    
    Returns:
    
    the 1st row 2nd column coefficient.
  - getM02
```
default double getM02()
```
    Gets the 1st row 3rd column coefficient of this matrix.
    
    Specified by:
    
    getM02 in interface Matrix3DReadOnly
    
    Returns:
    
    the 1st row 3rd column coefficient.
  - getM10
```
default double getM10()
```
    Gets the 2nd row 1st column coefficient of this matrix.
    
    Specified by:
    
    getM10 in interface Matrix3DReadOnly
    
    Returns:
    
    the 2nd row 1st column coefficient.
  - getM11
```
default double getM11()
```
    Gets the 2nd row 2nd column coefficient of this matrix.
    
    Specified by:
    
    getM11 in interface Matrix3DReadOnly
    
    Returns:
    
    the 2nd row 2nd column coefficient.
  - getM12
```
default double getM12()
```
    Gets the 2nd row 3rd column coefficient of this matrix.
    
    Specified by:
    
    getM12 in interface Matrix3DReadOnly
    
    Returns:
    
    the 2nd row 3rd column coefficient.
  - getM20
```
default double getM20()
```
    Gets the 3rd row 1st column coefficient of this matrix.
    
    Specified by:
    
    getM20 in interface Matrix3DReadOnly
    
    Returns:
    
    the 3rd row 1st column coefficient.
  - getM21
```
default double getM21()
```
    Gets the 3rd row 2nd column coefficient of this matrix.
    
    Specified by:
    
    getM21 in interface Matrix3DReadOnly
    
    Returns:
    
    the 3rd row 2nd column coefficient.
  - getM22
```
default double getM22()
```
    Gets the 3rd row 3rd column coefficient of this matrix.
    
    Specified by:
    
    getM22 in interface Matrix3DReadOnly
    
    Returns:
    
    the 3rd row 3rd column coefficient.
  - getMaxScale
```
default double getMaxScale()
```
    Retrieves the scale factor with the maximum value and returns it.
    
    Returns:
    
    the maximum value among the scale factors.
  - getRotation
```
default void getRotation(Orientation3DBasics orientationToPack)
```
    Packs the rotation part.
    
    Parameters:
    
    orientationToPack - the orientation in which the rotation part is stored. Modified.
  - getRotation
```
default void getRotation(double[] rotationMatrixArrayToPack)
```
    Packs the rotation part as a rotation matrix and stores it into a row-major 1D array.
    
    Parameters:
    
    rotationMatrixArrayToPack - the array in which the coefficients of the rotation part are stored. Modified.
  - getRotation
```
default void getRotation(org.ejml.data.DenseMatrix64F rotationMatrixToPack)
```
    Packs the rotation part as a rotation matrix.
    
    Parameters:
    
    rotationMatrixToPack - the rotation matrix in which the rotation part is stored. Modified.
  - getRotation
```
default void getRotation(Vector3DBasics rotationVectorToPack)
```
    Packs the rotation part as an rotation vector.
    WARNING: a rotation vector is different from a yaw-pitch-roll or Euler angles representation. A rotation vector is equivalent to the axis of an axis-angle that is multiplied by the angle of the same axis-angle.
    
    Parameters:
    
    rotationVectorToPack - the rotation vector in which the rotation part is stored. Modified.
  - getRotationEuler
```
default void getRotationEuler(Tuple3DBasics eulerAnglesToPack)
```
    Packs the orientation described by the rotation part as the Euler angles.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Parameters:
    
    eulerAnglesToPack - the tuple in which the Euler angles are stored. Modified.
  - getRotationYawPitchRoll
```
default void getRotationYawPitchRoll(double[] yawPitchRollToPack)
```
    Packs the orientation described by the rotation part as the yaw-pitch-roll angles.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Parameters:
    
    yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored. Modified.
  - getRotationYaw
```
default double getRotationYaw()
```
    Computes and returns the yaw angle from the yaw-pitch-roll representation of the rotation part.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Returns:
    
    the yaw angle around the z-axis.
  - getRotationPitch
```
default double getRotationPitch()
```
    Computes and returns the pitch angle from the yaw-pitch-roll representation of the rotation part.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Returns:
    
    the pitch angle around the y-axis.
  - getRotationRoll
```
default double getRotationRoll()
```
    Computes and returns the roll angle from the yaw-pitch-roll representation of the rotation part.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Returns:
    
    the roll angle around the x-axis.
  - getScale
```
default void getScale(Tuple3DBasics scaleToPack)
```
    Packs the scale factors in a tuple.
    
    Parameters:
    
    scaleToPack - the tuple in which the scale factors are stored. Modified.
  - transform
```
default void transform(Tuple3DReadOnly tupleOriginal,
                       Tuple3DBasics tupleTransformed)
```
    Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
    tupleTransformed = this * tupleOriginal
    
    Specified by:
    
    transform in interface Matrix3DReadOnly
    
    Parameters:
    
    tupleOriginal - the tuple to transform. Not modified.
    
    tupleTransformed - the tuple to store the result. Modified.
  - addTransform
```
default void addTransform(Tuple3DReadOnly tupleOriginal,
                          Tuple3DBasics tupleTransformed)
```
    Transforms the given tuple tupleOriginal by this matrix and add the result to tupleTransformed.
    tupleTransformed = tupleTransformed + this * tupleOriginal
    
    Specified by:
    
    addTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    tupleOriginal - the tuple to transform. Not modified.
    
    tupleTransformed - the tuple to add the result to. Modified.
  - transform
```
default void transform(Tuple2DReadOnly tupleOriginal,
                       Tuple2DBasics tupleTransformed,
                       boolean checkIfTransformInXYPlane)
```
    Transforms the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
    tupleTransformed = this * tupleOriginal
    
    Specified by:
    
    transform in interface Matrix3DReadOnly
    
    Parameters:
    
    tupleOriginal - the tuple to transform. Not modified.
    
    tupleTransformed - the tuple to store the result. Modified.
    
    checkIfTransformInXYPlane - whether this method should assert that this matrix represents a transformation in the XY plane.
  - transform
```
default void transform(QuaternionBasics quaternionToTransform)
```
    Transforms the given quaternion by the rotation part of this rotation-scale matrix.
    quaternionToTransform = Q(this.getRotationMatrix()) * quaternionToTransform
    where Q(this.getRotationMatrix()) is the equivalent quaternion for the rotation part of this rotation-scale matrix.
    
    Parameters:
    
    quaternionToTransform - the quaternion to transform. Modified.
  - transform
```
default void transform(QuaternionReadOnly quaternionOriginal,
                       QuaternionBasics quaternionTransformed)
```
    Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
    quaternionToTransform = Q(this.getRotationMatrix()) * quaternionToTransform
    where Q(this.getRotationMatrix()) is the equivalent quaternion for the rotation part of this rotation-scale matrix.
    
    Parameters:
    
    quaternionOriginal - the quaternion to transform. Not modified.
    
    quaternionTransformed - the quaternion in which the result is stored. Modified.
  - transform
```
default void transform(Vector4DReadOnly vectorOriginal,
                       Vector4DBasics vectorTransformed)
```
    Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.
    vectorTransformed.s = vectorOriginal.s
    vectorTransformed.xyz = this * vectorOriginal.xyz
    
    Specified by:
    
    transform in interface Matrix3DReadOnly
    
    Parameters:
    
    vectorOriginal - the vector to transform. Not modified.
    
    vectorTransformed - the vector in which the result is stored. Modified.
  - transform
```
default void transform(RotationMatrix matrixToTransform)
```
    Transforms the given rotation matrix by the rotation part of this rotation-scale matrix.
    matrixToTransform = this.getRotationMatrix() * matrixToTransform
    
    Parameters:
    
    matrixToTransform - the rotation matrix to transform. Modified.
  - transform
```
default void transform(RotationMatrixReadOnly matrixOriginal,
                       RotationMatrix matrixTransformed)
```
    Transforms the given rotation matrix matrixOriginal by the rotation part of this rotation-scale matrix and stores the result in matrixTransformed.
    matrixTransformed = this.getRotationMatrix() * matrixOriginal
    
    Parameters:
    
    matrixOriginal - the rotation matrix to transform. Not modified.
    
    matrixTransformed - the rotation matrix in which the result is stored. Modified.
  - transform
```
default void transform(Matrix3DReadOnly matrixOriginal,
                       Matrix3D matrixTransformed)
```
    Transforms the given 3D matrix matrixOriginal by this matrix and stores the result in matrixTransformed.
    matrixTransformed = this * matrixOriginal * this^-1
    
    Specified by:
    
    transform in interface Matrix3DReadOnly
    
    Parameters:
    
    matrixOriginal - the matrix to transform. Not modified.
    
    matrixTransformed - the matrix in which the result is stored. Modified.
  - inverseTransform
```
default void inverseTransform(Tuple3DReadOnly tupleOriginal,
                              Tuple3DBasics tupleTransformed)
```
    Performs the inverse of the transform to the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
    tupleTransformed = this^-1 * tupleOriginal
    
    Specified by:
    
    inverseTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    tupleOriginal - the tuple to transform. Not modified.
    
    tupleTransformed - the tuple in which the result is stored. Modified.
  - inverseTransform
```
default void inverseTransform(Tuple2DReadOnly tupleOriginal,
                              Tuple2DBasics tupleTransformed,
                              boolean checkIfTransformInXYPlane)
```
    Performs the inverse of the transform to the given tuple tupleOriginal by this matrix and stores the result in tupleTransformed.
    tupleTransformed = this^-1 * tupleOriginal
    
    Specified by:
    
    inverseTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    tupleOriginal - the tuple to transform. Not modified.
    
    tupleTransformed - the tuple in which the result is stored. Modified.
    
    checkIfTransformInXYPlane - whether this method should assert that this matrix represents a transformation in the XY plane.
  - inverseTransform
```
default void inverseTransform(QuaternionBasics quaternionToTransform)
```
    Performs the inverse of the transform to the given quaternion by the rotation part of this rotation-scale matrix.
    quaternionToTransform = Q(this.getRotationMatrix()^-1) * quaternionToTransform
    where Q(this.getRotationMatrix()^-1) is the equivalent quaternion for the inverse of the rotation part of this rotation-scale matrix.
    
    This operation uses the property:
    q^-1 = conjugate(q)
    of a quaternion preventing to actually compute the inverse of the matrix.
    
    Parameters:
    
    quaternionToTransform - the quaternion to transform. Modified.
  - inverseTransform
```
default void inverseTransform(QuaternionReadOnly quaternionOriginal,
                              QuaternionBasics quaternionTransformed)
```
    Performs the inverse of the transform to the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
    quaternionToTransform = Q(this.getRotationMatrix()^-1) * quaternionToTransform
    where Q(this.getRotationMatrix()^-1) is the equivalent quaternion for the inverse of the rotation part of this rotation-scale matrix.
    
    This operation uses the property:
    q^-1 = conjugate(q)
    of a quaternion preventing to actually compute the inverse of the matrix.
    
    Parameters:
    
    quaternionOriginal - the quaternion to transform. Not modified.
    
    quaternionTransformed - the quaternion in which the result is stored. Modified.
  - inverseTransform
```
default void inverseTransform(Vector4DReadOnly vectorOriginal,
                              Vector4DBasics vectorTransformed)
```
    Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this matrix and stores the result in vectorTransformed.
    vectorTransformed.s = vectorOriginal.s
    vectorTransformed.xyz = this^-1 * vectorOriginal.xyz
    
    Specified by:
    
    inverseTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    vectorOriginal - the vector to transform. Not modified.
    
    vectorTransformed - the vector in which the result is stored. Modified.
  - inverseTransform
```
default void inverseTransform(RotationMatrix matrixToTransform)
```
    Performs the inverse of the transform to the given rotation matrix by the rotation part of this rotation-scale matrix.
    matrixToTransform = this.getRotationMatrix()^-1 * matrixToTransform
    
    This operation uses the property:
    R^-1 = R^T
    of a rotation matrix preventing to actually compute the inverse of the matrix.
    
    Parameters:
    
    matrixToTransform - the rotation matrix to transform. Modified.
  - inverseTransform
```
default void inverseTransform(RotationMatrixReadOnly matrixOriginal,
                              RotationMatrix matrixTransformed)
```
    Transforms the given rotation matrix matrixOriginal by the rotation part of this rotation-scale matrix and stores the result in matrixTransformed.
    matrixTransformed = this.getRotationMatrix()^-1 * matrixOriginal
    
    This operation uses the property:
    R^-1 = R^T
    of a rotation matrix preventing to actually compute the inverse of the matrix.
    
    Parameters:
    
    matrixOriginal - the rotation matrix to transform. Not modified.
    
    matrixTransformed - the rotation matrix in which the result is stored. Modified.
  - inverseTransform
```
default void inverseTransform(Matrix3DReadOnly matrixOriginal,
                              Matrix3D matrixTransformed)
```
    Performs the inverse of the transforms to the given 3D matrix matrixOriginal by this matrix and stores the result in matrixTransformed.
    matrixTransformed = this^-1 * matrixOriginal * this^-1
    
    Specified by:
    
    inverseTransform in interface Matrix3DReadOnly
    
    Parameters:
    
    matrixOriginal - the matrix to transform. Not modified.
    
    matrixTransformed - the matrix in which the result is stored. Modified.
  - epsilonEquals
```
default boolean epsilonEquals(RotationScaleMatrixReadOnly other,
                              double epsilon)
```
    Tests the rotation parts and scales of both matrices are equal to an epsilon.
    
    Parameters:
    
    other - the other matrix to compare against this. Not modified.
    
    epsilon - tolerance to use when comparing each component.
    
    Returns:
    
    true if the two matrix are equal, false otherwise.
  - geometricallyEquals
```
default boolean geometricallyEquals(RotationScaleMatrixReadOnly other,
                                    double epsilon)
```
    Tests if this and other represent the same rotation-scale to an epsilon.
    Two rotation-scale matrices are considered geometrically equal if the their respective rotation matrices and scale vectors are geometrically equal.
    
    Note that this.geometricallyEquals(other, epsilon) == true does not necessarily imply this.epsilonEquals(other, epsilon) and vice versa.
    
    Parameters:
    
    other - the other rotation-scale matrix to compare against this. Not modified.
    
    epsilon - the threshold used when comparing the internal rotation and scale to other's rotation and scale.
    
    Returns:
    
    true if the two rotation-scale matrices represent the same geometry, false otherwise.

Interface RotationScaleMatrixReadOnly

Method Summary

Methods inherited from interface us.ihmc.euclid.matrix.interfaces.Matrix3DReadOnly

Method Detail

getRotationMatrix

getScale

getScaleX

getScaleY

getScaleZ

getM00

getM01

getM02

getM10

getM11

getM12

getM20

getM21

getM22

getMaxScale

getRotation

getRotation

getRotation

getRotation

getRotationEuler

getRotationYawPitchRoll

getRotationYaw

getRotationPitch

getRotationRoll

getScale

transform

addTransform

transform

transform

transform

transform

transform

transform

transform

inverseTransform

inverseTransform

inverseTransform

inverseTransform

inverseTransform

inverseTransform

inverseTransform

inverseTransform

epsilonEquals

geometricallyEquals