/** * Converts {@link FMatrix3x3} into {@link FMatrixRMaj}. * * @param input Input matrix. * @param output Output matrix. If null a new matrix will be declared. * @return Converted matrix. */ public static FMatrixRMaj convert(FMatrix3x3 input, FMatrixRMaj output) { if (output == null) { output = new FMatrixRMaj(3, 3); } 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.data[0] = input.a11; output.data[1] = input.a12; output.data[2] = input.a13; output.data[3] = input.a21; output.data[4] = input.a22; output.data[5] = input.a23; output.data[6] = input.a31; output.data[7] = input.a32; output.data[8] = input.a33; return(output); }