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/* |
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* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project |
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* |
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* Contact: oopse@oopse.org |
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* |
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* This program is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation; either version 2.1 |
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* of the License, or (at your option) any later version. |
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* All we ask is that proper credit is given for our work, which includes |
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* - but is not limited to - adding the above copyright notice to the beginning |
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* of your source code files, and to any copyright notice that you may distribute |
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* with programs based on this work. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with this program; if not, write to the Free Software |
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* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
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* |
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*/ |
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|
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/** |
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* @file SquareMatrix3.hpp |
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* @author Teng Lin |
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* @date 10/11/2004 |
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* @version 1.0 |
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*/ |
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#ifndef MATH_SQUAREMATRIX#_HPP |
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#define MATH_SQUAREMATRIX#_HPP |
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|
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#include "SquareMatrix.hpp" |
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namespace oopse { |
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|
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template<typename Real> |
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class SquareMatrix3 : public SquareMatrix<Real, 3> { |
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public: |
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|
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/** default constructor */ |
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SquareMatrix3() : SquareMatrix<Real, 3>() { |
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} |
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|
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/** copy constructor */ |
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SquareMatrix3(const SquareMatrix<Real, 3>& m) : SquareMatrix<Real, 3>(m) { |
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} |
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|
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/** copy assignment operator */ |
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SquareMatrix3<Real>& operator =(const SquareMatrix<Real, 3>& m) { |
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if (this == &m) |
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return *this; |
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SquareMatrix<Real, 3>::operator=(m); |
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} |
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|
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/** |
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* Sets this matrix to a rotation matrix by three euler angles |
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* @ param euler |
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*/ |
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void setupRotMat(const Vector3d& euler); |
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|
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/** |
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* Sets this matrix to a rotation matrix by three euler angles |
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* @param phi |
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* @param theta |
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* @psi theta |
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*/ |
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void setupRotMat(double phi, double theta, double psi); |
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|
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|
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/** |
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* Sets this matrix to a rotation matrix by quaternion |
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* @param quat |
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*/ |
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void setupRotMat(const Vector4d& quat); |
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|
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/** |
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* Sets this matrix to a rotation matrix by quaternion |
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* @param q0 |
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* @param q1 |
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* @param q2 |
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* @parma q3 |
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*/ |
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void setupRotMat(double q0, double q1, double q2, double q4); |
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|
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/** |
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* Returns the quaternion from this rotation matrix |
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* @return the quaternion from this rotation matrix |
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* @exception invalid rotation matrix |
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*/ |
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Quaternion rotMatToQuat(); |
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|
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/** |
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* Returns the euler angles from this rotation matrix |
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* @return the quaternion from this rotation matrix |
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* @exception invalid rotation matrix |
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*/ |
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Vector3d rotMatToEuler(); |
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|
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/** |
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* Sets the value of this matrix to the inversion of itself. |
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* @note since simple algorithm can be applied to inverse the 3 by 3 matrix, we hide the |
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* implementation of inverse in SquareMatrix class |
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*/ |
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void inverse(); |
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|
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void diagonalize(); |
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|
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} |
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|
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}; |
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|
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} |
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#endif // MATH_SQUAREMATRIX#_HPP |
