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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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