src/math/SquareMatrix3.hpp

/*
 * Copyright (C) 2000-2004  Object Oriented Parallel Simulation Engine (OOPSE) project
 * 
 * Contact: oopse@oopse.org
 * 
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation; either version 2.1
 * of the License, or (at your option) any later version.
 * All we ask is that proper credit is given for our work, which includes
 * - but is not limited to - adding the above copyright notice to the beginning
 * of your source code files, and to any copyright notice that you may distribute
 * with programs based on this work.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 *
 */

/**
 * @file SquareMatrix3.hpp
 * @author Teng Lin
 * @date 10/11/2004
 * @version 1.0
 */
#ifndef MATH_SQUAREMATRIX#_HPP
#define  MATH_SQUAREMATRIX#_HPP

#include "SquareMatrix.hpp"
namespace oopse {

    template<typename Real>
    class SquareMatrix3 : public SquareMatrix<Real, 3> {
        public:
            
            /** default constructor */
            SquareMatrix3() : SquareMatrix<Real, 3>() {
            }

            /** copy  constructor */
            SquareMatrix3(const SquareMatrix<Real, 3>& m)  : SquareMatrix<Real, 3>(m) {
            }

            /** copy assignment operator */
            SquareMatrix3<Real>& operator =(const SquareMatrix<Real, 3>& m) {
                if (this == &m)
                    return *this;
                 SquareMatrix<Real, 3>::operator=(m);
            }

            /**
             * Sets this matrix to a rotation matrix by three euler angles
             * @ param euler
             */
            void setupRotMat(const Vector3d& euler);

            /**
             * Sets this matrix to a rotation matrix by three euler angles
             * @param phi
             * @param theta
             * @psi theta
             */
            void setupRotMat(double phi, double theta, double psi);


            /**
             * Sets this matrix to a rotation matrix by quaternion
             * @param quat
            */
            void setupRotMat(const Vector4d& quat);

            /**
             * Sets this matrix to a rotation matrix by quaternion
             * @param q0
             * @param q1
             * @param q2
             * @parma q3
            */
            void setupRotMat(double q0, double q1, double q2, double q4);

            /**
             * Returns the quaternion from this rotation matrix
             * @return the quaternion from this rotation matrix
             * @exception invalid rotation matrix
            */            
            Quaternion rotMatToQuat();

            /**
             * Returns the euler angles from this rotation matrix
             * @return the quaternion from this rotation matrix
             * @exception invalid rotation matrix
            */            
            Vector3d rotMatToEuler();
            
            /**
             * Sets the value of this matrix to  the inversion of itself. 
             * @note since simple algorithm can be applied to inverse the 3 by 3 matrix, we hide the 
             * implementation of inverse in SquareMatrix class
             */
            void  inverse();

            void diagonalize();

    }

    };

}
#endif // MATH_SQUAREMATRIX#_HPP
Revision:	76
Committed:	Thu Oct 14 23:28:09 2004 UTC (21 years ago) by tim
File size:	3788 byte(s)
Log Message:	math library in progress
#	User	Rev	Content
1	tim	70	/*
2			* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project
3			*
4			* Contact: oopse@oopse.org
5			*
6			* This program is free software; you can redistribute it and/or
7			* modify it under the terms of the GNU Lesser General Public License
8			* as published by the Free Software Foundation; either version 2.1
9			* of the License, or (at your option) any later version.
10			* All we ask is that proper credit is given for our work, which includes
11			* - but is not limited to - adding the above copyright notice to the beginning
12			* of your source code files, and to any copyright notice that you may distribute
13			* with programs based on this work.
14			*
15			* This program is distributed in the hope that it will be useful,
16			* but WITHOUT ANY WARRANTY; without even the implied warranty of
17			* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18			* GNU Lesser General Public License for more details.
19			*
20			* You should have received a copy of the GNU Lesser General Public License
21			* along with this program; if not, write to the Free Software
22			* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
23			*
24			*/
25
26			/**
27			* @file SquareMatrix3.hpp
28			* @author Teng Lin
29			* @date 10/11/2004
30			* @version 1.0
31			*/
32			#ifndef MATH_SQUAREMATRIX#_HPP
33			#define MATH_SQUAREMATRIX#_HPP
34
35			#include "SquareMatrix.hpp"
36			namespace oopse {
37
38			template<typename Real>
39			class SquareMatrix3 : public SquareMatrix<Real, 3> {
40			public:
41
42			/** default constructor */
43			SquareMatrix3() : SquareMatrix<Real, 3>() {
44			}
45
46			/** copy constructor */
47			SquareMatrix3(const SquareMatrix<Real, 3>& m) : SquareMatrix<Real, 3>(m) {
48			}
49
50			/** copy assignment operator */
51			SquareMatrix3<Real>& operator =(const SquareMatrix<Real, 3>& m) {
52			if (this == &m)
53			return *this;
54			SquareMatrix<Real, 3>::operator=(m);
55			}
56	tim	76
57			/**
58			* Sets this matrix to a rotation matrix by three euler angles
59			* @ param euler
60			*/
61			void setupRotMat(const Vector3d& euler);
62
63			/**
64			* Sets this matrix to a rotation matrix by three euler angles
65			* @param phi
66			* @param theta
67			* @psi theta
68			*/
69			void setupRotMat(double phi, double theta, double psi);
70
71
72			/**
73			* Sets this matrix to a rotation matrix by quaternion
74			* @param quat
75			*/
76			void setupRotMat(const Vector4d& quat);
77
78			/**
79			* Sets this matrix to a rotation matrix by quaternion
80			* @param q0
81			* @param q1
82			* @param q2
83			* @parma q3
84			*/
85			void setupRotMat(double q0, double q1, double q2, double q4);
86
87			/**
88			* Returns the quaternion from this rotation matrix
89			* @return the quaternion from this rotation matrix
90			* @exception invalid rotation matrix
91			*/
92			Quaternion rotMatToQuat();
93
94			/**
95			* Returns the euler angles from this rotation matrix
96			* @return the quaternion from this rotation matrix
97			* @exception invalid rotation matrix
98			*/
99			Vector3d rotMatToEuler();
100	tim	70
101			/**
102			* Sets the value of this matrix to the inversion of itself.
103			* @note since simple algorithm can be applied to inverse the 3 by 3 matrix, we hide the
104			* implementation of inverse in SquareMatrix class
105			*/
106			void inverse();
107
108	tim	76	void diagonalize();
109
110	tim	70	}
111
112			};
113
114			}
115			#endif // MATH_SQUAREMATRIX#_HPP