source: flair-src/trunk/lib/FlairCore/src/RotationMatrix.h@ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 6 years ago

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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/*!
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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