source: flair-src/trunk/lib/FlairCore/src/RotationMatrix.h@ 2

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file RotationMatrix.h
 * \brief Class defining a rotation matrix
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2016/02/09
 * \version 4.0
 */
#ifndef ROTATIONMATRIX_H
#define ROTATIONMATRIX_H

#include <stddef.h>

namespace flair {
namespace core {
    class Euler;

    /*! \class RotationMatrix
    *
    * \brief Class defining a rotation matrix
    */
    class RotationMatrix {
        public:
            /*!
            * \brief Constructor
            *
            * Construct an identity rotation matrix
            *
            */
            RotationMatrix();

            /*!
            * \brief Destructor
            *
            */
            ~RotationMatrix();

            /*!
            * \brief Convert to euler angles
            *
            * \param euler output euler angles
            */
            void ToEuler(Euler &euler) const;

            /*!
            * \brief Convert to euler angles
            *
            * \return euler angles
            */
            Euler ToEuler(void) const;
            /*!
            * \brief matrix
            *
            */
            float m[3][3];

            float& operator()(size_t row,size_t col);
            const float& operator()(size_t row,size_t col) const;
    };

} // end namespace core
} // end namespace flair

#endif // ROTATIONMATRIX_H