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[2] | 1 | // %flair:license{
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[13] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[2] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file RotationMatrix.h
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| 7 | * \brief Class defining a rotation matrix
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2016/02/09
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| 10 | * \version 4.0
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| 11 | */
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| 12 | #ifndef ROTATIONMATRIX_H
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| 13 | #define ROTATIONMATRIX_H
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| 14 |
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| 15 | #include <stddef.h>
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| 16 |
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| 17 | namespace flair {
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| 18 | namespace core {
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[13] | 19 | class Euler;
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[36] | 20 | class Quaternion;
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[2] | 21 |
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[13] | 22 | /*! \class RotationMatrix
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| 23 | *
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| 24 | * \brief Class defining a rotation matrix
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| 25 | */
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| 26 | class RotationMatrix {
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| 27 | public:
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| 28 | /*!
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| 29 | * \brief Constructor
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| 30 | *
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| 31 | * Construct an identity rotation matrix
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| 32 | *
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| 33 | */
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| 34 | RotationMatrix();
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[2] | 35 |
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[13] | 36 | /*!
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| 37 | * \brief Destructor
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| 38 | *
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| 39 | */
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| 40 | ~RotationMatrix();
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[2] | 41 |
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[13] | 42 | /*!
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| 43 | * \brief Convert to euler angles
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| 44 | *
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| 45 | * \param euler output euler angles
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| 46 | */
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| 47 | void ToEuler(Euler &euler) const;
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[2] | 48 |
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[13] | 49 | /*!
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| 50 | * \brief Convert to euler angles
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| 51 | *
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| 52 | * \return euler angles
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| 53 | */
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| 54 | Euler ToEuler(void) const;
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[36] | 55 |
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[13] | 56 | /*!
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[36] | 57 | * \brief Convert to quaternion
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| 58 | *
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| 59 | * \param quaternion output quaternion
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| 60 | */
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| 61 | void ToQuaternion(Quaternion &quaternion) const;
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| 62 |
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| 63 | /*!
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| 64 | * \brief Convert to quaternion
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| 65 | *
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| 66 | * \return quaternion
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| 67 | */
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| 68 | Quaternion ToQuaternion(void) const;
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| 69 |
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| 70 | /*!
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[13] | 71 | * \brief matrix
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| 72 | *
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| 73 | */
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| 74 | float m[3][3];
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[2] | 75 |
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[13] | 76 | float &operator()(size_t row, size_t col);
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| 77 | const float &operator()(size_t row, size_t col) const;
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| 78 | };
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[2] | 79 |
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| 80 | } // end namespace core
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| 81 | } // end namespace flair
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| 82 |
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| 83 | #endif // ROTATIONMATRIX_H
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