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1 | // %flair:license{ |
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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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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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19 | class Euler; |
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20 | class Quaternion; |
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21 | |
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22 | /*! \class RotationMatrix |
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23 | * |
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24 | * \brief Class defining a rotation matrix |
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25 | */ |
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26 | class RotationMatrix { |
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27 | public: |
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28 | /*! |
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29 | * \brief Constructor |
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30 | * |
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31 | * Construct an identity rotation matrix |
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32 | * |
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33 | */ |
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34 | RotationMatrix(); |
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35 | |
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36 | /*! |
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37 | * \brief Destructor |
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38 | * |
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39 | */ |
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40 | ~RotationMatrix(); |
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41 | |
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42 | /*! |
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43 | * \brief Convert to euler angles |
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44 | * |
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45 | * \param euler output euler angles |
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46 | */ |
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47 | void ToEuler(Euler &euler) const; |
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48 | |
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49 | /*! |
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50 | * \brief Convert to euler angles |
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51 | * |
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52 | * \return euler angles |
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53 | */ |
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54 | Euler ToEuler(void) const; |
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55 | |
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56 | /*! |
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57 | * \brief Convert to quaternion |
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58 | * |
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59 | * \param quaternion output quaternion |
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60 | */ |
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61 | void ToQuaternion(Quaternion &quaternion) const; |
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62 | |
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63 | /*! |
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64 | * \brief Convert to quaternion |
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65 | * |
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66 | * \return quaternion |
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67 | */ |
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68 | Quaternion ToQuaternion(void) const; |
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69 | |
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70 | /*! |
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71 | * \brief matrix |
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72 | * |
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73 | */ |
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74 | float m[3][3]; |
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75 | |
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76 | float &operator()(size_t row, size_t col); |
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77 | const float &operator()(size_t row, size_t col) const; |
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78 | }; |
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79 | |
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80 | } // end namespace core |
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81 | } // end namespace flair |
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82 | |
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83 | #endif // ROTATIONMATRIX_H |
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