source: flair-dev/trunk/include/FlairCore/RotationMatrix.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 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// CECILL-C 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
17namespace flair {
18namespace core {
19class Euler;
20
21/*! \class RotationMatrix
22*
23* \brief Class defining a rotation matrix
24*/
25class RotationMatrix {
26public:
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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