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tim |
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#ifndef _Mat3x3dD_H_ |
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#define _Mat3x3dD_H_ |
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// class introduction in Mat3x3d.cpp |
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class Vector3d; |
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class Quaternion; |
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class Euler3; |
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class Mat3x3d{ |
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public: |
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double element[3][3]; |
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//enum {Axx = 0, Axy = 1, Axz = 2, Ayx =3, Ayy =4, Ayz = 5, Azx = 6, Azy =7, Azz = 8}; |
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public: |
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Mat3x3d(){ |
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element[0][0] = 0.0; |
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element[0][1] = 0.0; |
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element[0][2] = 0.0; |
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element[1][0] = 0.0; |
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element[1][1] = 0.0; |
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element[1][2] = 0.0; |
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element[2][0] = 0.0; |
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element[2][1] = 0.0; |
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element[2][2] = 0.0; |
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} |
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Mat3x3d(double s){ |
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element[0][0] = s; |
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element[0][1] = 0.0; |
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element[0][2] = 0.0; |
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element[1][0] = 0.0; |
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element[1][1] = s; |
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element[1][2] = 0.0; |
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element[2][0] = 0.0; |
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element[2][1] = 0.0; |
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element[2][2] = s; |
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} |
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Mat3x3d(double d[3][3]){ |
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element[0][0] = d[0][0]; |
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element[0][1] = d[0][1]; |
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element[0][2] = d[0][2]; |
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element[1][0] = d[1][0]; |
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element[1][1] = d[1][1]; |
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element[1][2] = d[1][2]; |
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element[2][0] = d[2][0]; |
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element[2][1] = d[2][1]; |
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element[2][2] = d[2][2]; |
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} |
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Mat3x3d(const Vector3d& v1, const Vector3d& v2, const Vector3d& v3); |
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Mat3x3d(const Quaternion& q); |
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Mat3x3d(const Euler3& e); |
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void getArray(double *m){ |
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m[0] = element[0][0]; |
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m[1] = element[0][1]; |
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m[2] = element[0][2]; |
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m[3] = element[1][0]; |
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m[4] = element[1][1]; |
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m[5] = element[1][2]; |
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m[6] = element[2][0]; |
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m[7] = element[2][1]; |
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m[8] = element[2][2]; |
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} |
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void operator +=(const Mat3x3d& m){ |
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element[0][0] += m.element[0][0]; |
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element[0][1] += m.element[0][1]; |
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element[0][2] += m.element[0][2]; |
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element[1][0] += m.element[1][0]; |
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element[1][1] += m.element[1][1]; |
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element[1][2] += m.element[1][2]; |
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element[2][0] += m.element[2][0]; |
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element[2][1] += m.element[2][1]; |
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element[2][2] += m.element[2][2]; |
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} |
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void operator -=(const Mat3x3d& m){ |
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element[0][0] -= m.element[0][0]; |
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element[0][1] -= m.element[0][1]; |
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element[0][2] -= m.element[0][2]; |
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element[1][0] -= m.element[1][0]; |
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element[1][1] -= m.element[1][1]; |
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element[1][2] -= m.element[1][2]; |
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element[2][0] -= m.element[2][0]; |
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element[2][1] -= m.element[2][1]; |
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element[2][2] -= m.element[2][2]; |
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} |
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void operator *=(const Mat3x3d& m){ |
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Mat3x3d temp(*this); |
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for(unsigned int i = 0; i < 3; i++) |
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for(unsigned int j = 0; j < 3 ; j++) |
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element[i][j] = temp.element[i][0] * m.element[0][j] + |
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temp.element[i][1] * m.element[1][j] + |
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temp.element[i][2] * m.element[2][j]; |
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} |
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void operator *=(const double r){ |
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element[0][0] *=r; |
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element[0][1] *=r; |
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element[0][2] *=r; |
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element[1][0] *=r; |
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element[1][1] *=r; |
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element[1][2] *=r; |
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element[2][0] *=r; |
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element[2][1] *=r; |
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element[2][2] *=r; |
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} |
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void operator /=(const double r){ |
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element[0][0] /=r; |
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element[0][1] /=r; |
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element[0][2] /=r; |
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element[1][0] /=r; |
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element[1][1] /=r; |
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element[1][2] /=r; |
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element[2][0] /=r; |
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element[2][1] /=r; |
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element[2][2] /=r; |
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} |
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friend Mat3x3d operator+(const Mat3x3d& m1, const Mat3x3d& m2){ |
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Mat3x3d result; |
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result.element[0][0] = m1.element[0][0] + m2.element[0][0]; |
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result.element[0][1] = m1.element[0][1] + m2.element[0][1]; |
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result.element[0][2] = m1.element[0][2] + m2.element[0][2]; |
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result.element[1][0] = m1.element[1][0] + m2.element[1][0]; |
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result.element[1][1] = m1.element[1][1] + m2.element[1][1]; |
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result.element[1][2] = m1.element[1][2] + m2.element[1][2]; |
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result.element[2][0] = m1.element[2][0] + m2.element[2][0]; |
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result.element[2][1] = m1.element[2][1] + m2.element[2][1]; |
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result.element[2][2] = m1.element[2][2] + m2.element[2][2]; |
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return result; |
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} |
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friend Mat3x3d operator-(const Mat3x3d& m1, const Mat3x3d& m2){ |
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Mat3x3d result; |
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result.element[0][0] = m1.element[0][0] - m2.element[0][0]; |
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result.element[0][1] = m1.element[0][1] - m2.element[0][1]; |
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result.element[0][2] = m1.element[0][2] - m2.element[0][2]; |
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result.element[1][0] = m1.element[1][0] - m2.element[1][0]; |
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result.element[1][1] = m1.element[1][1] - m2.element[1][1]; |
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result.element[1][2] = m1.element[1][2] - m2.element[1][2]; |
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result.element[2][0] = m1.element[2][0] - m2.element[2][0]; |
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result.element[2][1] = m1.element[2][1] - m2.element[2][1]; |
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result.element[2][2] = m1.element[2][2] - m2.element[2][2]; |
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return result; |
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} |
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friend Mat3x3d operator*(const Mat3x3d& m1, const Mat3x3d& m2){ |
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Mat3x3d result; |
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for(unsigned int i = 0; i < 3; i++) |
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for(unsigned int j = 0; j < 3 ; j++) |
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result.element[i][j] = m1.element[i][0] * m2.element[0][j] + |
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m1.element[i][1] * m2.element[1][j] + |
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m1.element[i][2] * m2.element[2][j]; |
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return result; |
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} |
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friend Vector3d operator*(const Mat3x3d& m, const Vector3d& v); |
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Mat3x3d inverse() const; |
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Mat3x3d transpose() const; |
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double det() const; |
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double trace() const {return element[0][0] + element[1][1] + element[2][2];} |
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//the last three will be deprecated in the next version |
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void diagonalize(Vector3d& v, Mat3x3d& m); |
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void diagonalize(Vector3d& v, double m[3][3]); |
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void diagonalize(double v[3], Mat3x3d& m); |
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void diagonalize(double v[3], double m[3][3]); |
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Quaternion toQuaternion(); |
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Euler3 toEuler(); |
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//bool isRotationMatrix(); |
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//bool isSymmetric(void) const; |
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}; |
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#endif //end ifndef _Mat3x3dD_H_ |
