OOPSE/libmdtools/Euler3.hpp

#ifndef _EULER3_H_
#define _EULER3_H_

class Quaternion;
class Mat3x3d;
class Vector3d;

class Euler3{
  public:
    Euler3();
    Euler3(double theta, double phi, double psi){
      this->theta = theta;
      this->phi = phi;
      this->psi = psi;
    }

    Euler3(double e[3]){
      theta = e[0];
      phi = e[1];
      psi = e[2];
    }

    Euler3(const Vector3d& v);
    
    Euler3(Mat3x3d& m);
    
    Euler3(Quaternion& q);
    
  public:
    union{
      struct{
        double theta;
        double phi;
        double psi;
      };
      double angle[3];
    };
};

#endif //endif idndef _EULER3_H_
Revision:	1254
Committed:	Wed Jun 9 16:16:33 2004 UTC (20 years, 1 month 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
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_