source: flair-src/trunk/lib/FlairCore/src/RotationMatrix.cpp @ 42

Last change on this file since 42 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 1.5 KB
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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//  created:    2016/02/09
6//  filename:   RotationMatrix.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining a rotation matrix
14//
15//
16/*********************************************************************/
17
18#include "RotationMatrix.h"
19#include "Object.h"
20#include "Euler.h"
21#include "math.h"
22
23namespace flair {
24namespace core {
25
26RotationMatrix::RotationMatrix() {
27  for (int i = 0; i < 3; i++) {
28    for (int j = 0; j < 3; j++) {
29      if (i == j) {
30        m[i][j] = 1;
31      } else {
32        m[i][j] = 0;
33      }
34    }
35  }
36}
37
38RotationMatrix::~RotationMatrix() {}
39
40void RotationMatrix::ToEuler(Euler &euler) const {
41  euler.roll = atanf(m[1][2] / m[2][2]);
42  euler.pitch = asinf(-m[0][2]);
43  euler.yaw = atan2f(m[0][1], m[0][0]);
44}
45
46Euler RotationMatrix::ToEuler(void) const {
47  Euler euler;
48  ToEuler(euler);
49  return euler;
50}
51
52float &RotationMatrix::operator()(size_t row, size_t col) {
53  if (row < 3 && col < 3) {
54    return m[row][col];
55  } else {
56    Printf("RotationMatrix: index (%i,%i) out of bound\n", row, col);
57    return m[2][2];
58  }
59}
60
61const float &RotationMatrix::operator()(size_t row, size_t col) const {
62  if (row < 3 && col < 3) {
63    return m[row][col];
64  } else {
65    Printf("RotationMatrix: index (%i,%i) out of bound\n", row, col);
66    return m[2][2];
67  }
68}
69
70} // end namespace core
71} // end namespace flair
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