Last change
on this file since 12 was 2, checked in by Sanahuja Guillaume, 9 years ago |
initial commit flaircore
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1 | // %flair:license{
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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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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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19 | class Euler;
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20 |
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21 | /*! \class RotationMatrix
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22 | *
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23 | * \brief Class defining a rotation matrix
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24 | */
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25 | class RotationMatrix {
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26 | public:
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27 | /*!
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28 | * \brief Constructor
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29 | *
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30 | * Construct an identity rotation matrix
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31 | *
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32 | */
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33 | RotationMatrix();
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34 |
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35 | /*!
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36 | * \brief Destructor
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37 | *
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38 | */
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39 | ~RotationMatrix();
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40 |
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41 | /*!
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42 | * \brief Convert to euler angles
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43 | *
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44 | * \param euler output euler angles
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45 | */
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46 | void ToEuler(Euler &euler) const;
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47 |
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48 | /*!
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49 | * \brief Convert to euler angles
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50 | *
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51 | * \return euler angles
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52 | */
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53 | Euler ToEuler(void) const;
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54 | /*!
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55 | * \brief matrix
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56 | *
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57 | */
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58 | float m[3][3];
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59 |
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60 | float& operator()(size_t row,size_t col);
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61 | const float& operator()(size_t row,size_t col) const;
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62 | };
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63 |
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64 | } // end namespace core
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65 | } // end namespace flair
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66 |
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67 | #endif // ROTATIONMATRIX_H
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