meowpp/math/LinearTransformations.h


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#ifndef   math_LinearTransformations_H__
#define   math_LinearTransformations_H__

#include "LinearTransformation.h"

#include <cstdlib>

namespace meow{
  template<class Scalar>
  class Rotation3D: public LinearTransformation<Scalar>{
    private:
      Scalar _theta[3];
      void calcMatrix();
    public:
      Rotation3D();
      
      void axisTheta(Matrix<Scalar> const& __axis, Scalar const& __theta);
      
      Scalar parameter(size_t __i) const;
      Scalar parameter(size_t __i, Scalar const& __s);
      
      Matrix<Scalar> transformate(Matrix<Scalar> const& __x) const;
      Matrix<Scalar> jacobian    (Matrix<Scalar> const& __x) const;
      Matrix<Scalar> jacobian    (Matrix<Scalar> const& __x,
                                  size_t                __i) const;
      
      Matrix<Scalar> invTransformate(Matrix<Scalar> const& __x) const;
      Matrix<Scalar> invJacobian    (Matrix<Scalar> const& __x) const;
      Matrix<Scalar> invJacobian    (Matrix<Scalar> const& __x,
                                     size_t                __i) const;
      
      Matrix<Scalar> invMatrix() const;
  };
}

#include "LinearTransformations.hpp"

#endif // math_LinearTransformations_H__