/**
* Converts {@link FMatrix6x6} 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(FMatrix6x6 input, FMatrixRMaj output)
{
if (output == null)
{
output = new FMatrixRMaj(6, 6);
}
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.a14;
output.data[4] = input.a15;
output.data[5] = input.a16;
output.data[6] = input.a21;
output.data[7] = input.a22;
output.data[8] = input.a23;
output.data[9] = input.a24;
output.data[10] = input.a25;
output.data[11] = input.a26;
output.data[12] = input.a31;
output.data[13] = input.a32;
output.data[14] = input.a33;
output.data[15] = input.a34;
output.data[16] = input.a35;
output.data[17] = input.a36;
output.data[18] = input.a41;
output.data[19] = input.a42;
output.data[20] = input.a43;
output.data[21] = input.a44;
output.data[22] = input.a45;
output.data[23] = input.a46;
output.data[24] = input.a51;
output.data[25] = input.a52;
output.data[26] = input.a53;
output.data[27] = input.a54;
output.data[28] = input.a55;
output.data[29] = input.a56;
output.data[30] = input.a61;
output.data[31] = input.a62;
output.data[32] = input.a63;
output.data[33] = input.a64;
output.data[34] = input.a65;
output.data[35] = input.a66;
return(output);
}
