Predefined typedefs

These typedefs provide convenient synonyms for common matrix and vector types. More...

Modules
	Less commonly-used typedefs

Typedefs
typedef Vec< 2 >	SimTK::Vec2
	This is the most common 2D vector type: a column of 2 Real values stored consecutively in memory (packed). More...
typedef Vec< 3 >	SimTK::Vec3
	This is the most common 3D vector type: a column of 3 Real values stored consecutively in memory (packed). More...
typedef Vec< 4 >	SimTK::Vec4
	This is the most common 4D vector type: a column of 4 Real values stored consecutively in memory (packed). More...
typedef Mat< 2, 2 >	SimTK::Mat22
	This is the most common 2x2 matrix type: two packed columns of 2 Real values each. More...
typedef Mat< 3, 3 >	SimTK::Mat33
	This is the most common 3x3 matrix type: three packed columns of 3 Real values each. More...
typedef Mat< 4, 4 >	SimTK::Mat44
	This is the most common 4x4 matrix type: four packed columns of 4 Real values each. More...
typedef SymMat< 2 >	SimTK::SymMat22
	A compact, 2x2 Real symmetric matrix; only 3 elements are stored. More...
typedef SymMat< 3 >	SimTK::SymMat33
	A compact, 3x3 Real symmetric matrix; only 6 elements are stored. More...
typedef SymMat< 4 >	SimTK::SymMat44
	A compact, 2x2 Real symmetric matrix; only 10 elements are stored. More...
typedef Row< 2 >	SimTK::Row2
	Packed, 2-element row of Real values. More...
typedef Row< 3 >	SimTK::Row3
	Packed, 3-element row of Real values. More...
typedef Row< 4 >	SimTK::Row4
	Packed, 4-element row of Real values. More...
typedef Vector_< Real >	SimTK::Vector
	Variable-size column vector of Real elements; abbreviation for Vector_<Real>. More...
typedef Matrix_< Real >	SimTK::Matrix
	Variable-size 2D matrix of Real elements; abbreviation for Matrix_<Real>. More...
typedef RowVector_< Real >	SimTK::RowVector
	Variable-size row vector of Real elements; abbreviation for RowVector_<Real>. More...

Detailed Description

These typedefs provide convenient synonyms for common matrix and vector types.

Note that the typedef name may be used interchangeably with the fully templatized names; they represent exactly the same type.

The simplest names are for types whose elements are of the compile-time default precision type Real which is typically double but can be changed to float at compile time. There are also names prefixed with a lowercase "f" that always use float regardless of the default precision.

Note that there are more template parameters than are specified here; these typedefs are using default values for them. The missing parameters specify the spacing between elements; these typedefs always refer to types for which the elements are packed in memory. See Vec, Row, Mat, SymMat for more information.

For fixed size vectors and matrices, only the 2-, 3-, and 4-element sizes are commonly used. However we provide typedefs for sizes up to 9 in case they are needed. For larger sizes, just use the explicit templatized forms.

Typedef Documentation

typedef Vector_<Real> SimTK::Vector

Variable-size column vector of Real elements; abbreviation for Vector_<Real>.

This is the most common large-vector type in the Simbody API and in Simbody user programs.

typedef Vec<2> SimTK::Vec2

This is the most common 2D vector type: a column of 2 Real values stored consecutively in memory (packed).

typedef Vec<3> SimTK::Vec3

This is the most common 3D vector type: a column of 3 Real values stored consecutively in memory (packed).

typedef Vec<4> SimTK::Vec4

This is the most common 4D vector type: a column of 4 Real values stored consecutively in memory (packed).

typedef Mat<2, 2> SimTK::Mat22

This is the most common 2x2 matrix type: two packed columns of 2 Real values each.

The columns have type Vec2 but rows have a stride of 2 so the row type is Row<2,Real,2>, not Row2.

typedef Mat<3, 3> SimTK::Mat33

This is the most common 3x3 matrix type: three packed columns of 3 Real values each.

The columns have type Vec3 but rows have a stride of 3 so the row type is Row<3,Real,3>, not Row3.

typedef Mat<4, 4> SimTK::Mat44

This is the most common 4x4 matrix type: four packed columns of 4 Real values each.

The columns have type Vec4 but rows have a stride of 4 so the row type is Row<4,Real,4>, not Row4.

typedef SymMat<2> SimTK::SymMat22

A compact, 2x2 Real symmetric matrix; only 3 elements are stored.

typedef SymMat<3> SimTK::SymMat33

A compact, 3x3 Real symmetric matrix; only 6 elements are stored.

typedef SymMat<4> SimTK::SymMat44

A compact, 2x2 Real symmetric matrix; only 10 elements are stored.

typedef Row<2> SimTK::Row2

Packed, 2-element row of Real values.

This is the type of a transposed Vec2 and usually does not appear explicitly in user programs.

typedef Row<3> SimTK::Row3

Packed, 3-element row of Real values.

This is the type of a transposed Vec3 and usually does not appear explicitly in user programs.

typedef Row<4> SimTK::Row4

Packed, 4-element row of Real values.

This is the type of a transposed Vec4 and usually does not appear explicitly in user programs.

typedef Matrix_<Real> SimTK::Matrix

Variable-size 2D matrix of Real elements; abbreviation for Matrix_<Real>.

This is the most common large-matrix type in the Simbody API and in Simbody user programs.

typedef RowVector_<Real> SimTK::RowVector

Variable-size row vector of Real elements; abbreviation for RowVector_<Real>.

This is the type of a transposed Vector and does not usually appear explicitly in the Simbody API or user programs.