53 |
|
return *this; |
54 |
|
SquareMatrix<Real, 3>::operator=(m); |
55 |
|
} |
56 |
+ |
|
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 |
|
|
101 |
|
/** |
102 |
|
* Sets the value of this matrix to the inversion of itself. |
104 |
|
* implementation of inverse in SquareMatrix class |
105 |
|
*/ |
106 |
|
void inverse(); |
63 |
– |
|
64 |
– |
/** |
65 |
– |
* Sets the value of this matrix to the inversion of other matrix. |
66 |
– |
* @ param m the source matrix |
67 |
– |
*/ |
68 |
– |
void inverse(const SquareMatrix<Real, Dim>& m); |
107 |
|
|
108 |
+ |
void diagonalize(); |
109 |
+ |
|
110 |
|
} |
111 |
|
|
112 |
|
}; |