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root/group/trunk/OOPSE-2.0/src/math/SquareMatrix3.hpp
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Comparing trunk/OOPSE-2.0/src/math/SquareMatrix3.hpp (file contents):
Revision 1563 by tim, Wed Oct 13 06:51:09 2004 UTC vs.
Revision 1569 by tim, Thu Oct 14 23:28:09 2004 UTC

# Line 53 | Line 53 | namespace oopse {
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.
# Line 60 | Line 104 | namespace oopse {
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      };

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