Last change
on this file since 62 was 15, checked in by Bayard Gildas, 8 years ago |
sources reformatted with flair-format-dir script
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[2] | 1 | // %flair:license{
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[15] | 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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[15] | 19 | class Euler;
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[2] | 20 |
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[15] | 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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[2] | 34 |
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[15] | 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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[2] | 40 |
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[15] | 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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[2] | 47 |
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[15] | 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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[2] | 59 |
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[15] | 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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[2] | 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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