Revision: | 1254 |
Committed: | Wed Jun 9 16:16:33 2004 UTC (20 years, 2 months ago) by tim |
File size: | 615 byte(s) |
Log Message: | 1. adding some useful math classes(Mat3x3d, Vector3d, Quaternion, Euler3) these classes use anonymous union and struct to support double[3], double[3][3] and double[4] 2. adding roll constraint algorithm |
# | Content |
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1 | #ifndef _EULER3_H_ |
2 | #define _EULER3_H_ |
3 | |
4 | class Quaternion; |
5 | class Mat3x3d; |
6 | class Vector3d; |
7 | |
8 | class Euler3{ |
9 | public: |
10 | Euler3(); |
11 | Euler3(double theta, double phi, double psi){ |
12 | this->theta = theta; |
13 | this->phi = phi; |
14 | this->psi = psi; |
15 | } |
16 | |
17 | Euler3(double e[3]){ |
18 | theta = e[0]; |
19 | phi = e[1]; |
20 | psi = e[2]; |
21 | } |
22 | |
23 | Euler3(const Vector3d& v); |
24 | |
25 | Euler3(Mat3x3d& m); |
26 | |
27 | Euler3(Quaternion& q); |
28 | |
29 | public: |
30 | union{ |
31 | struct{ |
32 | double theta; |
33 | double phi; |
34 | double psi; |
35 | }; |
36 | double angle[3]; |
37 | }; |
38 | }; |
39 | |
40 | #endif //endif idndef _EULER3_H_ |
Name | Value |
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svn:executable | * |