/**
* Converts {@link FMatrixRMaj} into {@link FMatrix6}
*
* @param input Input matrix.
* @param output Output matrix. If null a new matrix will be declared.
* @return Converted matrix.
*/
public static FMatrix6 convert(FMatrixRMaj input, FMatrix6 output)
{
if (output == null)
{
output = new FMatrix6();
}
if (input.getNumRows() != 1 && input.getNumCols() != 1)
{
throw new ArgumentException("One row or column must have a length of 1 for it to be a vector");
}
int length = Math.Max(input.getNumRows(), input.getNumCols());
if (length != 6)
{
throw new ArgumentException("Length of input vector is not 6. It is " + length);
}
output.a1 = input.data[0];
output.a2 = input.data[1];
output.a3 = input.data[2];
output.a4 = input.data[3];
output.a5 = input.data[4];
output.a6 = input.data[5];
return(output);
}
/**
* Converts {@link FMatrixRMaj} into {@link FMatrix4x4}
*
* @param input Input matrix.
* @param output Output matrix. If null a new matrix will be declared.
* @return Converted matrix.
*/
public static FMatrix4x4 convert(FMatrixRMaj input, FMatrix4x4 output)
{
if (output == null)
{
output = new FMatrix4x4();
}
if (input.getNumRows() != output.getNumRows())
{
throw new ArgumentException("Number of rows do not match");
}
if (input.getNumCols() != output.getNumCols())
{
throw new ArgumentException("Number of columns do not match");
}
output.a11 = input.data[0];
output.a12 = input.data[1];
output.a13 = input.data[2];
output.a14 = input.data[3];
output.a21 = input.data[4];
output.a22 = input.data[5];
output.a23 = input.data[6];
output.a24 = input.data[7];
output.a31 = input.data[8];
output.a32 = input.data[9];
output.a33 = input.data[10];
output.a34 = input.data[11];
output.a41 = input.data[12];
output.a42 = input.data[13];
output.a43 = input.data[14];
output.a44 = input.data[15];
return(output);
}
/**
* Converts {@link FMatrixRMaj} into {@link FMatrix6x6}
*
* @param input Input matrix.
* @param output Output matrix. If null a new matrix will be declared.
* @return Converted matrix.
*/
public static FMatrix6x6 convert(FMatrixRMaj input, FMatrix6x6 output)
{
if (output == null)
{
output = new FMatrix6x6();
}
if (input.getNumRows() != output.getNumRows())
{
throw new ArgumentException("Number of rows do not match");
}
if (input.getNumCols() != output.getNumCols())
{
throw new ArgumentException("Number of columns do not match");
}
output.a11 = input.data[0];
output.a12 = input.data[1];
output.a13 = input.data[2];
output.a14 = input.data[3];
output.a15 = input.data[4];
output.a16 = input.data[5];
output.a21 = input.data[6];
output.a22 = input.data[7];
output.a23 = input.data[8];
output.a24 = input.data[9];
output.a25 = input.data[10];
output.a26 = input.data[11];
output.a31 = input.data[12];
output.a32 = input.data[13];
output.a33 = input.data[14];
output.a34 = input.data[15];
output.a35 = input.data[16];
output.a36 = input.data[17];
output.a41 = input.data[18];
output.a42 = input.data[19];
output.a43 = input.data[20];
output.a44 = input.data[21];
output.a45 = input.data[22];
output.a46 = input.data[23];
output.a51 = input.data[24];
output.a52 = input.data[25];
output.a53 = input.data[26];
output.a54 = input.data[27];
output.a55 = input.data[28];
output.a56 = input.data[29];
output.a61 = input.data[30];
output.a62 = input.data[31];
output.a63 = input.data[32];
output.a64 = input.data[33];
output.a65 = input.data[34];
output.a66 = input.data[35];
return(output);
}
/**
* Converts {@link FMatrixRMaj} into {@link FMatrix2x2}
*
* @param input Input matrix.
* @param output Output matrix. If null a new matrix will be declared.
* @return Converted matrix.
*/
public static FMatrix2x2 convert(FMatrixRMaj input, FMatrix2x2 output)
{
if (output == null)
{
output = new FMatrix2x2();
}
if (input.getNumRows() != output.getNumRows())
{
throw new ArgumentException("Number of rows do not match");
}
if (input.getNumCols() != output.getNumCols())
{
throw new ArgumentException("Number of columns do not match");
}
output.a11 = input.data[0];
output.a12 = input.data[1];
output.a21 = input.data[2];
output.a22 = input.data[3];
return(output);
}
