MTMatrix44

Class MTMatrix44 inherits from class MTMatrix (4.2). It represents a rotation and translation to be performed on a vector (4.1).

$RT=\left[\begin{array}{cccc} r1 & r2 & r3 & tx\\ r4 & r5 & r6 & ty\\ r7 & r8 & r9 & tz\\ 0 & 0 & 0 & 1\end{array}\right]$

The rotation part is the 3x3 matrix with elements 'r'. The translation is the fourth column denoted as $(xyz1)^{T}$.

Methods:

* manipulation
-(MTMatrix44*)invert	invert the 4x4 rotation matrix
-(MTMatrix44*)xIP: (MTMatrix44*)m2	matrix multiplication with matrix m2 (in place!): M' = M * M2
-(MTMatrix44*)chainWith: (MTMatrix44*)m2	matrix multiplication with matrix m2 (in place!): M' = M2 * M
* creation
+(MTMatrix44*)matrixFromString: (NSString*)strx	creates a new 4x4 matrix, initialised by values from parsed string
+(id)matrixIdentity	creates a new 4x4 matrix with diagonal values set to one.
+(MTMatrix44*)rotationX: (double)phi	returns rotation of given angle around X-axis
+(MTMatrix44*)rotationY: (double)phi	returns rotation of given angle around X-axis
+(MTMatrix44*)rotationZ: (double)phi	returns rotation of given angle around X-axis
+(MTMatrix44*)rotation: (double)phi aroundAxis: (MTCoordinates*)ax	returns rotation of given angle around given axis (3.9)