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RotMatrix.h
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//# RotMatrix.h: a 3x3 rotation matrix
//# Copyright (C) 1995,1996,1997,1999,2000,2001
//# Associated Universities, Inc. Washington DC, USA.
//#
//# This library is free software; you can redistribute it and/or modify it
//# under the terms of the GNU Library General Public License as published by
//# the Free Software Foundation; either version 2 of the License, or (at your
//# option) any later version.
//#
//# This library is distributed in the hope that it will be useful, but WITHOUT
//# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
//# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public
//# License for more details.
//#
//# You should have received a copy of the GNU Library General Public License
//# along with this library; if not, write to the Free Software Foundation,
//# Inc., 675 Massachusetts Ave, Cambridge, MA 02139, USA.
//#
//# Correspondence concerning AIPS++ should be addressed as follows:
//# Internet email: casa-feedback@nrao.edu.
//# Postal address: AIPS++ Project Office
//# National Radio Astronomy Observatory
//# 520 Edgemont Road
//# Charlottesville, VA 22903-2475 USA
#ifndef CASA_ROTMATRIX_H
#define CASA_ROTMATRIX_H
//# Includes
#include <casacore/casa/aips.h>
#include <casacore/casa/Arrays/Matrix.h>
#include <casacore/casa/Arrays/Vector.h>
#include <casacore/casa/iosfwd.h>
namespace casacore { //# NAMESPACE CASACORE - BEGIN
//# Forward Declarations
class Euler;
//# Constants (SUN compiler does not accept non-simple default arguments)
// <summary>
// A 3x3 rotation matrix
// </summary>
// <use visibility=local>
// <reviewed reviewer="tcornwel" date="1996/02/15" tests="tMeasMath" demos="">
// </reviewed>
// <prerequisite>
// <li> <linkto class=Matrix>Matrix</linkto>
// <li> <linkto class=Euler>Euler</linkto>
// </prerequisite>
//
// <etymology>
// From Rotation and Matrix
// </etymology>
//
// <synopsis>
// A rotation matrix is a 3x3 matrix, which can be used to rotate a coordinate
// system, notably the direction cosines in
// <linkto class=MVDirection>MVDirection</linkto>.<br>
// A RotMatrix can be constructed by the default constructor (which will
// set the diagonal to 1), a copy constructor, and from a set of
// Euler angles with <src>RotMatrix(Euler)</src>.<br>
// Multiplication can be done (by *= and *) of two rotation matrices.<br>
// The (uInt, uInt) operator returns the indicated element.
// </synopsis>
//
// <example>
// See <linkto class=Euler>Euler</linkto>
// </example>
//
// <motivation>
// To use in nutation and other coordinate calculations
// </motivation>
//
// <todo asof="1996/02/15">
// </todo>
class RotMatrix
{
public:
//# Friends
// Output a rotation matrix as a matrix
friend ostream &operator<< (ostream &os, const RotMatrix &rot);
//# Constructors
// Default constructor generates a unit 3x3 matrix.
RotMatrix();
// The copy constructor copies
RotMatrix(const RotMatrix &other);
// Make from an Euler
RotMatrix(const Euler &other);
// Make from an Euler around specified axes
RotMatrix(const Euler &other, Int ax0, Int ax1, Int ax2);
// Copy assignment
RotMatrix &operator=(const RotMatrix &other);
// Destructor
~RotMatrix();
//# Operators
// The multiplication operations generate matrix products
// <group>
RotMatrix &operator*=(const RotMatrix &other);
RotMatrix operator*(const RotMatrix &other) const;
// </group>
// Return the indicated element
// <group>
Double &operator()(uInt row, uInt column);
const Double &operator()(uInt row, uInt column) const;
// </group>
//# Methods
// Get as Matrix
Matrix<Double> get() const;
// Transpose the rotation matrix
void transpose();
// Fill Rotation matrix from Matrix
void set(const Matrix<Double> &in);
// Fill Rotation matrix from 3 (row) vectors
void set(const Vector<Double> &in0, const Vector<Double> &in1,
const Vector<Double> &in2);
private:
//# Data
// The rotation matrix (3x3)
Double rotat[3][3];
//# Member functions
// Apply to a rotation matrix a further rotation of angle around the specified
// axis which (0 or 1 or 2).
void applySingle(Double angle, Int which);
};
} //# NAMESPACE CASACORE - END
#endif
casacore::Euler
Definition Euler.h:115
casacore::Matrix
Definition Matrix.h:87
casacore::RotMatrix::applySingle
void applySingle(Double angle, Int which)
Apply to a rotation matrix a further rotation of angle around the specified axis which (0 or 1 or 2).
casacore::RotMatrix::RotMatrix
RotMatrix()
Default constructor generates a unit 3x3 matrix.
casacore::RotMatrix::transpose
void transpose()
Transpose the rotation matrix.
casacore::RotMatrix::operator<<
friend ostream & operator<<(ostream &os, const RotMatrix &rot)
Output a rotation matrix as a matrix.
casacore::RotMatrix::set
void set(const Vector< Double > &in0, const Vector< Double > &in1, const Vector< Double > &in2)
Fill Rotation matrix from 3 (row) vectors.
casacore::RotMatrix::get
Matrix< Double > get() const
Get as Matrix.
casacore::RotMatrix::operator()
const Double & operator()(uInt row, uInt column) const
casacore::RotMatrix::operator*=
RotMatrix & operator*=(const RotMatrix &other)
The multiplication operations generate matrix products.
casacore::RotMatrix::operator()
Double & operator()(uInt row, uInt column)
Return the indicated element.
casacore::RotMatrix::rotat
Double rotat[3][3]
The rotation matrix (3x3).
Definition RotMatrix.h:134
casacore::RotMatrix::set
void set(const Matrix< Double > &in)
Fill Rotation matrix from Matrix.
casacore::RotMatrix::RotMatrix
RotMatrix(const Euler &other)
Make from an Euler.
casacore::RotMatrix::~RotMatrix
~RotMatrix()
Destructor.
casacore::RotMatrix::RotMatrix
RotMatrix(const Euler &other, Int ax0, Int ax1, Int ax2)
Make from an Euler around specified axes.
casacore::RotMatrix::operator=
RotMatrix & operator=(const RotMatrix &other)
Copy assignment.
casacore::RotMatrix::operator*
RotMatrix operator*(const RotMatrix &other) const
casacore::RotMatrix::RotMatrix
RotMatrix(const RotMatrix &other)
The copy constructor copies.
casacore::Vector
Definition Vector.h:82
casacore
this file contains all the compiler specific defines
Definition mainpage.dox:28
casacore::uInt
unsigned int uInt
Definition aipstype.h:49
casacore::Int
int Int
Definition aipstype.h:48
casacore::Double
double Double
Definition aipstype.h:53