1 /* 2 * This file is part of libcxxsupport. 3 * 4 * libcxxsupport is free software; you can redistribute it and/or modify 5 * it under the terms of the GNU General Public License as published by 6 * the Free Software Foundation; either version 2 of the License, or 7 * (at your option) any later version. 8 * 9 * libcxxsupport is distributed in the hope that it will be useful, 10 * but WITHOUT ANY WARRANTY; without even the implied warranty of 11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 * GNU General Public License for more details. 13 * 14 * You should have received a copy of the GNU General Public License 15 * along with libcxxsupport; if not, write to the Free Software 16 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 17 */ 18 19 /* 20 * libcxxsupport is being developed at the Max-Planck-Institut fuer Astrophysik 21 * and financially supported by the Deutsches Zentrum fuer Luft- und Raumfahrt 22 * (DLR). 23 */ 24 25 /*! \file rotmatrix.h 26 * Class for rotation transforms in 3D space 27 * 28 * Copyright (C) 2003-2011 Max-Planck-Society 29 * \author Martin Reinecke 30 */ 31 32 #ifndef PLANCK_ROTMATRIX_H 33 #define PLANCK_ROTMATRIX_H 34 35 #include <iostream> 36 #include "vec3.h" 37 38 /*! \defgroup rotmatrixgroup Rotation matrices */ 39 /*! \{ */ 40 41 /*! Class for rotation transforms in 3D space */ 42 class rotmatrix 43 { 44 public: 45 double entry[3][3]; 46 rotmatrix()47 rotmatrix () {} 48 49 /*! Constructs a rotation matrix from its nine entries */ rotmatrix(double a00,double a01,double a02,double a10,double a11,double a12,double a20,double a21,double a22)50 rotmatrix (double a00, double a01, double a02, 51 double a10, double a11, double a12, 52 double a20, double a21, double a22) 53 { 54 entry[0][0]=a00; entry[0][1]=a01; entry[0][2]=a02; 55 entry[1][0]=a10; entry[1][1]=a11; entry[1][2]=a12; 56 entry[2][0]=a20; entry[2][1]=a21; entry[2][2]=a22; 57 } 58 59 /*! Constructs a rotation matrix so that \a a is the first column, 60 \a b is the second column and \a c is the third column. 61 \note The vectors \a a, \a b and \a c must form an orthonormal system! 62 */ 63 rotmatrix (const vec3 &a, const vec3 &b, const vec3 &c); 64 65 /*! Sets the matrix to the identity matrix. */ 66 void SetToIdentity (); 67 /*! Sets all matrix elements to zero. */ 68 void SetToZero (); 69 /*! Transposes the matrix. */ 70 void Transpose (); 71 72 /*! Extracts a unit-length rotation axis \a axis and a rotation angle 73 \a angle (in radian) from the matrix. */ 74 void toAxisAngle (vec3 &axis, double &angle) const; 75 76 /*! Constructs a matrix which causes a rotation by \a angle radians around 77 \a axis. \a axis must have unit length. */ 78 void Make_Axis_Rotation_Transform (const vec3 &axis, double angle); 79 80 /*! Creates a rotation matrix \a A, which performs the following operations 81 on a vector \a v, when \a Av is calculated: 82 -# rotate \a v around the z-axis by \a gamma, 83 -# rotate \a v' around the y-axis by \a beta, 84 -# rotate \a v'' around the z-axis by \a alpha. 85 86 \note \a alpha, \a beta and \a gamma are given in radians, 87 the rotations are right handed. 88 89 \note This transformation rotates the \e vectors, not the coordinate 90 axes! */ 91 void Make_CPAC_Euler_Matrix (double alpha, double beta, double gamma); 92 93 /*! Extracts the Euler angles \a alpha, \a beta and \a gamma from the 94 matrix. For their definition see Make_CPAC_Euler_Matrix(). 95 96 \note In case of ambiguity \a alpha will be 0. */ 97 void Extract_CPAC_Euler_Angles 98 (double &alpha, double &beta, double &gamma) const; 99 100 /*! Returns the vector \a vec, transformed by the matrix. */ Transform(const vec3 & vec)101 vec3 Transform (const vec3 &vec) const 102 { 103 return vec3 104 (vec.x*entry[0][0] + vec.y*entry[0][1] + vec.z*entry[0][2], 105 vec.x*entry[1][0] + vec.y*entry[1][1] + vec.z*entry[1][2], 106 vec.x*entry[2][0] + vec.y*entry[2][1] + vec.z*entry[2][2]); 107 } 108 /*! Returns the vector \a vec, transformed by the matrix, in \a vec2. */ Transform(const vec3 & vec,vec3 & vec2)109 void Transform (const vec3 &vec, vec3 &vec2) const 110 { 111 vec2.x = vec.x*entry[0][0] + vec.y*entry[0][1] + vec.z*entry[0][2]; 112 vec2.y = vec.x*entry[1][0] + vec.y*entry[1][1] + vec.z*entry[1][2]; 113 vec2.z = vec.x*entry[2][0] + vec.y*entry[2][1] + vec.z*entry[2][2]; 114 } 115 }; 116 117 /*! Returns \a a * \a b. 118 \relates rotmatrix */ 119 rotmatrix operator* (const rotmatrix &a, const rotmatrix &b); 120 /*! Returns \a a * \a b in \a res. 121 \relates rotmatrix */ 122 void matmult (const rotmatrix &a, const rotmatrix &b, rotmatrix &res); 123 124 /*! Returns \a a^T * \a b in \a res. 125 \relates rotmatrix */ 126 void TransposeTimes (const rotmatrix &a, const rotmatrix &b, rotmatrix &res); 127 128 /*! Writes \a mat to \a os. 129 \relates rotmatrix */ 130 std::ostream &operator<< (std::ostream &os, const rotmatrix &mat); 131 132 /*! \} */ 133 134 #endif 135