/* -*- 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: vctMatrixRotation3.h,v 1.44 2007/04/26 19:33:58 anton Exp $ Author(s): Anton Deguet Created on: 2004-01-12 (C) Copyright 2004-2007 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 --- */ /*! \file \brief Declaration of vctMatrixRotation3 */ #ifndef _vctMatrixRotation3_h #define _vctMatrixRotation3_h #include #include #include /*! \brief Define a rotation matrix for a space of dimension 3 \ingroup cisstVector This class is templated by the element type. It is derived from vctMatrixRotation3Base and uses a vctFixedSizeMatrix as underlying container. It provides a more humain interface for programmers only interested in templating by _elementType. \param _elementType The type of elements of the matrix. \sa vctMatrixRotation3Base vctFixedSizeMatrix */ template class vctMatrixRotation3: public vctMatrixRotation3Base > { public: /* no need to document, inherit doxygen documentation from base class */ VCT_CONTAINER_TRAITS_TYPEDEFS(_elementType); enum {ROWS = 3, COLS = 3}; enum {DIMENSION = 3}; typedef vctFixedSizeMatrix ContainerType; typedef vctMatrixRotation3Base BaseType; typedef vctMatrixRotation3 ThisType; /*! Traits used for all useful types and values related to the element type. */ typedef cmnTypeTraits TypeTraits; /*! Default constructor. Sets the rotation matrix to identity. */ inline vctMatrixRotation3(): BaseType() {} inline vctMatrixRotation3(const ThisType & other): BaseType(other) {} inline vctMatrixRotation3(const BaseType & other): BaseType(other) {} /*! The assignment from BaseType (i.e. a 3 by 3 fixed size matrix) has to be redefined for this class (C++ restriction). This operator uses the Assign() method inherited from the BaseType. This operator (as well as the Assign method) allows to set a rotation matrix to whatever value without any further validity checking. It is recommended to use it with caution. */ inline ThisType & operator = (const ContainerType & other) { return reinterpret_cast(this->Assign(other)); } inline ThisType & operator = (const ThisType & other) { return reinterpret_cast(this->Assign(other)); } inline ThisType & operator = (const BaseType & other) { return reinterpret_cast(this->Assign(other)); } /* documented in base class */ inline vctMatrixRotation3(const value_type & element00, const value_type & element01, const value_type & element02, const value_type & element10, const value_type & element11, const value_type & element12, const value_type & element20, const value_type & element21, const value_type & element22) throw(std::runtime_error): BaseType(element00, element01, element02, element10, element11, element12, element20, element21, element22) {} template inline vctMatrixRotation3(const vctFixedSizeConstVectorBase& v1, const vctFixedSizeConstVectorBase& v2, const vctFixedSizeConstVectorBase& v3, bool vectorsAreColumns = true) throw(std::runtime_error): BaseType(v1, v2, v3, vectorsAreColumns) {} template inline vctMatrixRotation3(const vctDynamicConstVectorBase<__vectorOwnerType1, value_type>& v1, const vctDynamicConstVectorBase<__vectorOwnerType2, value_type>& v2, const vctDynamicConstVectorBase<__vectorOwnerType3, value_type>& v3, bool vectorsAreColumns = true) throw(std::runtime_error): BaseType(v1, v2, v3, vectorsAreColumns) {} inline vctMatrixRotation3(const vctAxisAngleRotation3 & axisAngleRotation) throw(std::runtime_error): BaseType(axisAngleRotation) {} template inline vctMatrixRotation3(const vctQuaternionRotation3Base<__containerType> & quaternionRotation) throw(std::runtime_error): BaseType(quaternionRotation) {} template inline vctMatrixRotation3(const vctRodriguezRotation3Base<__containerType> & rodriguezRotation) throw(std::runtime_error): BaseType(rodriguezRotation) {} inline vctMatrixRotation3(const value_type & element00, const value_type & element01, const value_type & element02, const value_type & element10, const value_type & element11, const value_type & element12, const value_type & element20, const value_type & element21, const value_type & element22, bool normalizeInput): BaseType(element00, element01, element02, element10, element11, element12, element20, element21, element22, normalizeInput) {} template inline vctMatrixRotation3(const vctFixedSizeConstVectorBase& v1, const vctFixedSizeConstVectorBase& v2, const vctFixedSizeConstVectorBase& v3, bool vectorsAreColumns, bool normalizeInput): BaseType(v1, v2, v3, vectorsAreColumns, normalizeInput) {} template inline vctMatrixRotation3(const vctDynamicConstVectorBase<__vectorOwnerType1, value_type>& v1, const vctDynamicConstVectorBase<__vectorOwnerType2, value_type>& v2, const vctDynamicConstVectorBase<__vectorOwnerType3, value_type>& v3, bool vectorsAreColumns, bool normalizeInput): BaseType(v1, v2, v3, vectorsAreColumns, normalizeInput) {} inline vctMatrixRotation3(const vctAxisAngleRotation3 & axisAngleRotation, bool normalizeInput): BaseType(axisAngleRotation, normalizeInput) {} template inline vctMatrixRotation3(const vctQuaternionRotation3Base<__containerType> & quaternionRotation, bool normalizeInput): BaseType(quaternionRotation, normalizeInput) {} template inline vctMatrixRotation3(const vctRodriguezRotation3Base<__containerType> & rodriguezRotation, bool normalizeInput): BaseType(rodriguezRotation, normalizeInput) {} /*! Initialize this rotation matrix with a 3x3 matrix. This constructor only takes a matrix of the same element type. \note This constructor does not verify normalization. It is introduced to allow using results of matrix operations and assign them to a rotation matrix. \note The constructor is declared explicit, to force the user to be aware of the conversion being made. */ template explicit inline vctMatrixRotation3(const vctFixedSizeMatrixBase & matrix): BaseType(matrix) {} }; #endif // _vctMatrixRotation3_h // **************************************************************************** // Change History // **************************************************************************** // // $Log: vctMatrixRotation3.h,v $ // Revision 1.44 2007/04/26 19:33:58 anton // All files in libraries: Applied new license text, separate copyright and // updated dates, added standard header where missing. // // Revision 1.43 2007/02/05 20:04:42 anton // cisstVector: Re-added and cleaned up rotations classes as requested in #266 // // Revision 1.42 2007/01/26 21:23:22 anton // cisstVector: Updated vctMatrixRotation3 code to reflect new design (i.e. avoid // derived class and use typedef instead, see ticket #263. // // Revision 1.41 2006/11/20 20:33:20 anton // Licensing: Applied new license to cisstCommon, cisstVector, cisstNumerical, // cisstInteractive, cisstImage and cisstOSAbstraction. // // Revision 1.40 2006/01/03 03:38:58 anton // cisstVector Doxygen: Used \code \endcode instead of
, added // some missing
, added links to VCT_NORMALIZE. // // Revision 1.39 2005/12/01 22:01:49 anton // ivctMatrixRotation3.h: Indentation. // // Revision 1.38 2005/10/07 03:32:35 anton // vctMatrixRotation3: Major update to implement ticket #110 re. initial // conditions for conversion methods (i.e. normalization of input). // // Revision 1.37 2005/10/06 16:56:37 anton // Doxygen: Corrected errors and some warnings detected by Doxygen 1.4.3. // // Revision 1.36 2005/09/26 15:41:47 anton // cisst: Added modelines for emacs and vi. // // Revision 1.35 2005/09/01 06:18:08 anton // cisstVector transformations: Added a level of abstraction for all classes // derived from fixed size containers (vctQuaternion, vctQuaternionRotation3, // vctMatrixRotation3, vctRodriguezRotation3). These classes are now derived // from vctXyzBase<_containerType>. This will ease the SWIG wrapping. // // Revision 1.34 2005/08/08 17:13:44 anton // Minor Doxygen typos. // // Revision 1.33 2005/07/22 19:06:46 ofri // vct[Quaternion|Matrix]Rotation[2|3]: Fixing compilation error related to // check-in [1253]. // // Revision 1.32 2005/07/22 15:08:21 ofri // Answer for ticket #155: added operator * that returns ThisType to // vctMatrixRotation2, vctMatrixRotation3, vctQuaternionRotation3 // // Revision 1.31 2005/07/19 18:24:28 anton // vctMatrixRotation{2,3}: Added constructor and From methods to set a rotation // matrix from 2 (respectively 3) vectors. See ticket #151. // // Revision 1.30 2005/06/16 03:38:29 anton // Port to gcc 3.4 (common, vector and numerical) tested with gcc 3.3 and MS // VC 7.1 (.Net 2003). // // Revision 1.29 2005/05/23 15:20:42 ofri // vctMatrixRotation3::IsNotmalized : Breakup of expression into statements, // following ticket #145. Successfully tested on linux/gcc. // // Revision 1.28 2005/05/19 19:29:01 anton // cisst libs: Added the license to cisstCommon and cisstVector // // Revision 1.27 2005/05/13 18:23:51 anton // cisstVector: Both vctMatrixRotation{2,3}::Normalized() where normalizing // identity. Result is now initialized from *this. // // Revision 1.26 2005/04/28 03:58:35 anton // cisstVector: Added methods ApplyTo(input) returning by copy as specified // in ticket #108. Added Doxygen documentation and moved from EqualRotation() // to AlmostEqual(). // // Revision 1.25 2005/02/11 18:30:30 ofri // vctMatrixRotation3: added constructor and From method from // vctFixedSizeConstMatrixBase. It was needed, for example, to assign output of // rot*rot (which is a matrix) to rot. Note that this version does not assert // normalization. // // Revision 1.24 2005/02/07 02:54:02 anton // vctMatrixRotation3: Minor Doxygen update. // // Revision 1.23 2005/02/04 16:56:54 anton // cisstVector: Added classes vctAxisAngleRotation3 and vctRodriguezRotation3 // as planed in ticket #109. Also updated vctMatrixRotation3 to use these new // classes. Other updates include vctRandom(rotation), new vctTypes and // forward declarations. // // Revision 1.22 2004/12/01 17:14:53 anton // cisstVector: Replace access to matrix elements by Element() instead of // double [][] for increased performance. See ticket #79. // // Revision 1.21 2004/11/18 20:57:30 ofri // RE: ticket #92. Redefined all operator= I could find to return a ThisType & // instead of const ThisType &. This included corresponding revision of the // Assign methods, and also definition from scratch of operator= for fixed and // dynamic matrix ref. // // Revision 1.20 2004/11/08 18:09:07 anton // cisstVector: Methods Assign(ThisType) require a cast. // // Revision 1.19 2004/11/04 23:11:02 ofri // vctQuaternionRotation3 and vctMatrixRotation3: Added method EqualRotation // and From(ThisType) with their documentation. // // Revision 1.18 2004/10/25 19:19:54 anton // cisstVector: Created vctForwardDeclarations.h and removed forward // declarations of classes in all other files. Added some constructors // for vector references to reference fixed size from dynamic and vice versa. // // Revision 1.17 2004/10/25 13:52:05 anton // Doxygen documentation: Cleanup all the useless \ingroup. // // Revision 1.16 2004/10/22 18:07:06 anton // Doxygen: Made sure that all the classes are documented for Doxygen. // // Revision 1.15 2004/10/06 22:53:03 ofri // classes vctMatrixRotation3, vctQuaternionRotation, vctFrame: Added methods // ApplyTo(vctDynamicConstVectorBase, vctDynamicVectorBase) and // ApplyInverseTo(vctDynamicConstVectorBase, vctDynamicVectorBase) . The library // and the test were compiled successfully on .net7, gcc. No correctess tests // were performed. // // Revision 1.14 2004/08/13 19:27:55 anton // cisstVector: For all the code related to rotations, added some assert to // check that the input is valid (normalized quaternion, normalized axis, // normalized matrix) for all the From method. Added a // vctQuaternionRotation.FromRaw(matrix) since this method is used to normalize // the rotation matrices. It's input doesn't have to be normalized. As a side // effect these additions, found a couple of IsNormalized methods which were // not const. // // Revision 1.13 2004/08/13 17:47:40 anton // cisstVector: Massive renaming to replace the word "sequence" by "vector" // (see ticket #50) as well as another more systematic naming for the engines. // The changes for the API are as follow: // *: vctFixedLengthSequenceBase -> vctFixedSizeVectorBase (and Const) // *: vctFixedLengthSequenceRef -> vctFixedSizeVectorRef (and Const) // *: vctDynamicSequenceBase -> vctDynamicVectorBase (and Const) // *: vctDynamicSequenceRef -> vctDynamicVectorRef (and Const) // *: vctDynamicSequenceRefOwner -> vctDynamicVectorRefOwner // *: vctFixedStrideSequenceIterator -> vctFixedStrideVectorIterator (and Const) // *: vctVarStrideSequenceIterator -> vctVarStrideVectorIterator (and Const) // *: vctSequenceRecursiveEngines -> vctFixedSizeVectorRecursiveEngines // *: vctSequenceLoopEngines -> vctDynamicVectorLoopEngines // *: vctMatrixLoopEngines -> vctFixedSizeMatrixLoopEngines // *: vctDynamicMatrixEngines -> vctDynamicMatrixLoopEngines // Also updated and corrected the documentation (latex, doxygen, figures) as // well as the tests and examples. // // Revision 1.12 2004/08/12 20:24:58 anton // cisstVector: Removed useless #include which is included by // cmnPortability. This allows a better control over the system includes. // // Revision 1.11 2004/06/03 21:18:39 ofri // And a couple more typos. // // Revision 1.10 2004/06/03 20:47:13 ofri // ... And, as usual, needed a couple adjustments after testing on Linux. // cisstVectorTests were successful. // // Revision 1.9 2004/06/03 20:38:14 ofri // Changes in vctQuaternionRotation3 and vctMatrixRotation3: // 1) Added constructor and conversion from ``Jacobian vector'' // 2) Some cosmetic changes: documentation, easier debugging. // // Revision 1.8 2004/04/06 15:23:15 anton // Doxygen clean-up // // Revision 1.7 2004/04/02 16:13:35 anton // Removed CISST_EXPORT for the whole class, exports only the methods // Identity, From(vctQuaternionRotation3) and NormalizedSelf. // // Revision 1.6 2004/03/19 15:29:41 ofri // vctMatrixRotation3 initialization from elements now uses base-type constructor // // Revision 1.5 2004/03/16 21:18:44 ofri // Applying changes deriving from updating the interface of cmnTypeTraits // // Revision 1.4 2004/02/27 02:41:31 ofri // The Identity rotation and frame objects are now declared through a static // method instead of a static object instance. This fixes a bug related to the // order of static object instantiations. // // Revision 1.3 2004/02/18 22:30:42 anton // Added DIMENSION for all transformation to simplify the vctFrame template // // Revision 1.2 2004/02/11 15:28:15 anton // Added ApplyTo(ThisType), ApplyInverseTo(ThisType) and ApplyInverseTo(sequence) // // Revision 1.1 2004/02/06 15:40:20 anton // Renamed vctRotationQuaternion3 to vctQuaternionRotation3 // Renamed vctRotationMatrix3 to vctMatrixRotation3 // Added Inverse and Normalized methods with consistant naming and signatures // Added constructors from/to quaternion, matrix, axis/angle // // // Revision 1.2 2004/01/16 22:51:16 anton // Added Inverse methods, ApplyTo and = for assignement from matrix // // Revision 1.1 2004/01/15 15:21:50 anton // Creation // // // ****************************************************************************