Last change
on this file since 13 was 13, checked in by Bayard Gildas, 8 years ago 
formatting script + include reformatted

File size:
1.1 KB

Line  

1  // %flair:license{


2  // This file is part of the Flair framework distributed under the


3  // CECILLC License, Version 1.0.


4  // %flair:license}


5  /*!


6  * \file RotationMatrix.h


7  * \brief Class defining a rotation matrix


8  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253


9  * \date 2016/02/09


10  * \version 4.0


11  */


12  #ifndef ROTATIONMATRIX_H


13  #define ROTATIONMATRIX_H


14 


15  #include <stddef.h>


16 


17  namespace flair {


18  namespace core {


19  class Euler;


20 


21  /*! \class RotationMatrix


22  *


23  * \brief Class defining a rotation matrix


24  */


25  class RotationMatrix {


26  public:


27  /*!


28  * \brief Constructor


29  *


30  * Construct an identity rotation matrix


31  *


32  */


33  RotationMatrix();


34 


35  /*!


36  * \brief Destructor


37  *


38  */


39  ~RotationMatrix();


40 


41  /*!


42  * \brief Convert to euler angles


43  *


44  * \param euler output euler angles


45  */


46  void ToEuler(Euler &euler) const;


47 


48  /*!


49  * \brief Convert to euler angles


50  *


51  * \return euler angles


52  */


53  Euler ToEuler(void) const;


54  /*!


55  * \brief matrix


56  *


57  */


58  float m[3][3];


59 


60  float &operator()(size_t row, size_t col);


61  const float &operator()(size_t row, size_t col) const;


62  };


63 


64  } // end namespace core


65  } // end namespace flair


66 


67  #endif // ROTATIONMATRIX_H


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