casacore
RotMatrix.h
Go to the documentation of this file.
1//# RotMatrix.h: a 3x3 rotation matrix
2//# Copyright (C) 1995,1996,1997,1999,2000,2001
3//# Associated Universities, Inc. Washington DC, USA.
4//#
5//# This library is free software; you can redistribute it and/or modify it
6//# under the terms of the GNU Library General Public License as published by
7//# the Free Software Foundation; either version 2 of the License, or (at your
8//# option) any later version.
9//#
10//# This library is distributed in the hope that it will be useful, but WITHOUT
11//# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
12//# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public
13//# License for more details.
14//#
15//# You should have received a copy of the GNU Library General Public License
16//# along with this library; if not, write to the Free Software Foundation,
17//# Inc., 675 Massachusetts Ave, Cambridge, MA 02139, USA.
18//#
19//# Correspondence concerning AIPS++ should be addressed as follows:
20//# Internet email: aips2-request@nrao.edu.
21//# Postal address: AIPS++ Project Office
22//# National Radio Astronomy Observatory
23//# 520 Edgemont Road
24//# Charlottesville, VA 22903-2475 USA
25//#
26//# $Id$
27
28#ifndef CASA_ROTMATRIX_H
29#define CASA_ROTMATRIX_H
30
31
32//# Includes
33#include <casacore/casa/aips.h>
34#include <casacore/casa/Arrays/Matrix.h>
35#include <casacore/casa/Arrays/Vector.h>
36#include <casacore/casa/iosfwd.h>
37
38namespace casacore { //# NAMESPACE CASACORE - BEGIN
39
40//# Forward Declarations
41class Euler;
42
43//# Constants (SUN compiler does not accept non-simple default arguments)
44
45// <summary>
46// A 3x3 rotation matrix
47// </summary>
48
49// <use visibility=local>
50
51// <reviewed reviewer="tcornwel" date="1996/02/15" tests="tMeasMath" demos="">
52// </reviewed>
53
54// <prerequisite>
55// <li> <linkto class=Matrix>Matrix</linkto>
56// <li> <linkto class=Euler>Euler</linkto>
57// </prerequisite>
58//
59// <etymology>
60// From Rotation and Matrix
61// </etymology>
62//
63// <synopsis>
64// A rotation matrix is a 3x3 matrix, which can be used to rotate a coordinate
65// system, notably the direction cosines in
66// <linkto class=MVDirection>MVDirection</linkto>.<br>
67// A RotMatrix can be constructed by the default constructor (which will
68// set the diagonal to 1), a copy constructor, and from a set of
69// Euler angles with <src>RotMatrix(Euler)</src>.<br>
70// Multiplication can be done (by *= and *) of two rotation matrices.<br>
71// The (uInt, uInt) operator returns the indicated element.
72// </synopsis>
73//
74// <example>
75// See <linkto class=Euler>Euler</linkto>
76// </example>
77//
78// <motivation>
79// To use in nutation and other coordinate calculations
80// </motivation>
81//
82// <todo asof="1996/02/15">
83// </todo>
84
86{
87 public:
88//# Friends
89// Output a rotation matrix as a matrix
90 friend ostream &operator<< (ostream &os, const RotMatrix &rot);
91//# Constructors
92// Default constructor generates a unit 3x3 matrix.
94// The copy constructor copies
95 RotMatrix(const RotMatrix &other);
96// Make from an Euler
97 RotMatrix(const Euler &other);
98// Make from an Euler around specified axes
99 RotMatrix(const Euler &other, Int ax0, Int ax1, Int ax2);
100// Copy assignment
102
103// Destructor
105
106//# Operators
107// The multiplication operations generate matrix products
108// <group>
110 RotMatrix operator*(const RotMatrix &other) const;
111// </group>
112
113// Return the indicated element
114// <group>
115 Double &operator()(uInt row, uInt column);
116 const Double &operator()(uInt row, uInt column) const;
117// </group>
118
119 //# Methods
120// Get as Matrix
122
123// Transpose the rotation matrix
124 void transpose();
125
126// Fill Rotation matrix from Matrix
127 void set(const Matrix<Double> &in);
128
129// Fill Rotation matrix from 3 (row) vectors
130 void set(const Vector<Double> &in0, const Vector<Double> &in1,
131 const Vector<Double> &in2);
132
133 private:
134//# Data
135// The rotation matrix (3x3)
137
138//# Member functions
139// Apply to a rotation matrix a further rotation of angle around the specified
140// axis which (0 or 1 or 2).
141 void applySingle(Double angle, Int which);
142};
143
144
145} //# NAMESPACE CASACORE - END
146
147#endif
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).
RotMatrix()
Default constructor generates a unit 3x3 matrix.
void transpose()
Transpose the rotation matrix.
friend ostream & operator<<(ostream &os, const RotMatrix &rot)
Output a rotation matrix as a matrix.
void set(const Vector< Double > &in0, const Vector< Double > &in1, const Vector< Double > &in2)
Fill Rotation matrix from 3 (row) vectors.
Matrix< Double > get() const
Get as Matrix.
const Double & operator()(uInt row, uInt column) const
RotMatrix & operator*=(const RotMatrix &other)
The multiplication operations generate matrix products.
Double & operator()(uInt row, uInt column)
Return the indicated element.
Double rotat[3][3]
The rotation matrix (3x3)
Definition: RotMatrix.h:136
void set(const Matrix< Double > &in)
Fill Rotation matrix from Matrix.
RotMatrix(const Euler &other)
Make from an Euler.
~RotMatrix()
Destructor.
RotMatrix(const Euler &other, Int ax0, Int ax1, Int ax2)
Make from an Euler around specified axes.
RotMatrix & operator=(const RotMatrix &other)
Copy assignment.
RotMatrix operator*(const RotMatrix &other) const
RotMatrix(const RotMatrix &other)
The copy constructor copies.
this file contains all the compiler specific defines
Definition: mainpage.dox:28
unsigned int uInt
Definition: aipstype.h:51
int Int
Definition: aipstype.h:50
double Double
Definition: aipstype.h:55