/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
  $Id: vctMatrixRotation2Base.cpp,v 1.5 2007/04/26 19:33:57 anton Exp $

  Author(s):	Anton Deguet
  Created on:	2005-12-01

  (C) Copyright 2005-2007 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---

*/


#include <cisstVector/vctMatrixRotation2Base.h>


template <>
const vctMatrixRotation2Base<vctFixedSizeMatrix<double, 2, 2> > &
vctMatrixRotation2Base<vctFixedSizeMatrix<double, 2, 2> >::Identity()
{
    static const ThisType result(1.0, 0.0,
                                 0.0, 1.0);
    return result;
}


template <>
const vctMatrixRotation2Base<vctFixedSizeMatrix<float, 2, 2> > &
vctMatrixRotation2Base<vctFixedSizeMatrix<float, 2, 2> >::Identity()
{
    static const ThisType result(1.0f, 0.0f,
                                 0.0f, 1.0f);
    return result;
}



template <class _containerType>
vctMatrixRotation2Base<_containerType> &
vctMatrixRotation2Base<_containerType>::FromRaw(const vctAngleRotation2 & angleRotation) {
    typedef typename _containerType::value_type value_type;
    const typename vctAngleRotation2::AngleType angle = angleRotation.Angle();
    const value_type sinAngle = value_type(sin(angle));
    const value_type cosAngle = value_type(cos(angle));
    // first column
    this->Element(0, 0) = cosAngle;
    this->Element(1, 0) = -sinAngle;
    // second column
    this->Element(0, 1) = sinAngle;
    this->Element(1, 1) = cosAngle;
    return *this;
}



// specialize for fixed size matrices
template <>
vctMatrixRotation2Base<vctFixedSizeMatrix<double, 2, 2> > &
vctMatrixRotation2Base<vctFixedSizeMatrix<double, 2, 2> >::NormalizedSelf(void) {
    this->FromRaw(vctAngleRotation2(*this, VCT_DO_NOT_NORMALIZE));
    return *this;
}

template <>
vctMatrixRotation2Base<vctFixedSizeMatrix<float, 2, 2> > &
vctMatrixRotation2Base<vctFixedSizeMatrix<float, 2, 2> >::NormalizedSelf(void) {
    this->FromRaw(vctAngleRotation2(*this, VCT_DO_NOT_NORMALIZE));
    return *this;
}


// force the instantiation of the templated classes
template class vctMatrixRotation2Base<vctFixedSizeMatrix<double, 2, 2> >;
template class vctMatrixRotation2Base<vctFixedSizeMatrix<float, 2, 2> >;

template <>
const vctMatrixRotation2Base<vctDynamicMatrix<double> > &
vctMatrixRotation2Base<vctDynamicMatrix<double> >::Identity()
{
    static const ThisType result(1.0, 0.0,
                                 0.0, 1.0);
    return result;
}


template <>
vctMatrixRotation2Base<vctDynamicMatrix<double> > &
vctMatrixRotation2Base<vctDynamicMatrix<double> >::NormalizedSelf(void)
{
    this->FromRaw(vctAngleRotation2(*this, VCT_DO_NOT_NORMALIZE));
    return *this;
}


template <>
const vctMatrixRotation2Base<vctDynamicMatrix<float> > &
vctMatrixRotation2Base<vctDynamicMatrix<float> >::Identity()
{
    static const ThisType result(1.0f, 0.0f,
                                 0.0f, 1.0f);
    return result;
}


template <>
vctMatrixRotation2Base<vctDynamicMatrix<float> > &
vctMatrixRotation2Base<vctDynamicMatrix<float> >::NormalizedSelf(void)
{
    this->FromRaw(vctAngleRotation2(*this, VCT_DO_NOT_NORMALIZE));
    return *this;
}



// force instantiation for dynamic containers, this is used for Python wrappers
template class vctMatrixRotation2Base<vctDynamicMatrix<double> >;
template class vctMatrixRotation2Base<vctDynamicMatrix<float> >;


// ****************************************************************************
//                              Change History
// ****************************************************************************
//
// $Log: vctMatrixRotation2Base.cpp,v $
// Revision 1.5  2007/04/26 19:33:57  anton
// All files in libraries: Applied new license text, separate copyright and
// updated dates, added standard header where missing.
//
// Revision 1.4  2007/01/24 03:10:22  anton
// vctMatrixRotation2: Simplified class structure by removing derived class
// and re-implementation of constructors.  End user types are defined with a
// simpler typedef.  See ticket #263.
//
// Revision 1.3  2007/01/23 20:59:27  anton
// cisstVector: Updated transformations classes so that non const methods
// returning a reference on "this" return a non const reference.  This follows
// ticket #259.
//
// Revision 1.2  2006/11/20 20:33:19  anton
// Licensing: Applied new license to cisstCommon, cisstVector, cisstNumerical,
// cisstInteractive, cisstImage and cisstOSAbstraction.
//
// Revision 1.1  2005/12/01 22:11:58  anton
// cisstVector: 2D transformations, added a base class for rotation matrix 2.
//
//
// ****************************************************************************