1 |
/* |
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 |
|
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. |
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 |
void diagonalize(); |
109 |
|
110 |
} |
111 |
|
112 |
}; |
113 |
|
114 |
} |
115 |
#endif // MATH_SQUAREMATRIX#_HPP |