matrix3.h Source File

00001 //
00002 // matrix3.h
00003 //
00004 // Copyright (C) 1996 Limit Point Systems, Inc.
00005 //
00006 // Author: Curtis Janssen <cljanss@limitpt.com>
00007 // Maintainer: LPS
00008 //
00009 // This file is part of the SC Toolkit.
00010 //
00011 // The SC Toolkit is free software; you can redistribute it and/or modify
00012 // it under the terms of the GNU Library General Public License as published by
00013 // the Free Software Foundation; either version 2, or (at your option)
00014 // any later version.
00015 //
00016 // The SC Toolkit is distributed in the hope that it will be useful,
00017 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00018 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019 // GNU Library General Public License for more details.
00020 //
00021 // You should have received a copy of the GNU Library General Public License
00022 // along with the SC Toolkit; see the file COPYING.LIB.  If not, write to
00023 // the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
00024 //
00025 // The U.S. Government is granted a limited license as per AL 91-7.
00026 //
00027 
00028 #ifndef _math_scmat_matrix3_h
00029 #define _math_scmat_matrix3_h
00030 #ifdef __GNUC__
00031 #pragma interface
00032 #endif
00033 
00034 #include <iostream>
00035 #include <math.h>
00036 
00037 #include <math/scmat/vector3.h>
00038 
00039 namespace sc {
00040 
00041 class RefSCmatrix;
00042 
00043 class SCMatrix3
00044 {
00045   private:
00046     double _m[9];
00047   public:
00048     SCMatrix3() {}
00049     SCMatrix3(const SCMatrix3&);
00050 #if 0
00051     SCMatrix3(const RefSCMatrix3&);
00052 #endif
00053     SCMatrix3(double x[9]);
00054     SCMatrix3(const SCVector3&p1, const SCVector3&p2, const SCVector3&p3);
00055     ~SCMatrix3() {}
00056     SCMatrix3& operator=(const SCMatrix3&);
00057     SCMatrix3 operator*(double) const;
00058     SCMatrix3 operator*(const SCMatrix3&) const;
00059     SCVector3 operator*(const SCVector3&v) const {
00060         SCVector3 result;
00061         result._v[0] = _m[0+3*0]*v._v[0]+_m[0+3*1]*v._v[1]+_m[0+3*2]*v._v[2];
00062         result._v[1] = _m[1+3*0]*v._v[0]+_m[1+3*1]*v._v[1]+_m[1+3*2]*v._v[2];
00063         result._v[2] = _m[2+3*0]*v._v[0]+_m[2+3*1]*v._v[1]+_m[2+3*2]*v._v[2];
00064         return result;
00065       }
00066     SCMatrix3 operator+(const SCMatrix3&) const;
00067     SCMatrix3 operator-(const SCMatrix3&) const;
00068     double& elem(int i, int j) { return _m[i+3*j]; }
00069     const double& elem(int i, int j) const { return _m[i+3*j]; }
00070     double& elem(int i) { return _m[i]; }
00071     const double& elem(int i) const { return _m[i]; }
00072     double& operator[] (int i) { return _m[i]; }
00073     const double& operator[] (int i) const { return _m[i]; }
00074     double& operator() (int i, int j) { return _m[i+3*j]; }
00075     const double& operator() (int i, int j) const { return _m[i+3*j]; }
00076     const double* data() const { return _m; }
00077     void print(std::ostream& =ExEnv::out0()) const;
00078 };
00079 SCMatrix3 operator*(double,const SCMatrix3&);
00080 SCMatrix3 rotation_mat(const SCVector3&, const SCVector3&, double theta);
00081 SCMatrix3 rotation_mat(const SCVector3&, const SCVector3&);
00082 SCMatrix3 rotation_mat(const SCVector3&, double theta);
00083 SCMatrix3 reflection_mat(const SCVector3&);
00084 inline int delta(int i, int j) { return i==j; }
00085 
00086 }
00087 
00088 #endif
00089 
00090 // Local Variables:
00091 // mode: c++
00092 // c-file-style: "CLJ"
00093 // End: