114 lines
3.1 KiB
C++
114 lines
3.1 KiB
C++
/***************************************************************************
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* Copyright (C) gempa GmbH *
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* All rights reserved. *
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* Contact: gempa GmbH (seiscomp-dev@gempa.de) *
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* *
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* GNU Affero General Public License Usage *
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* This file may be used under the terms of the GNU Affero *
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* Public License version 3.0 as published by the Free Software Foundation *
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* and appearing in the file LICENSE included in the packaging of this *
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* file. Please review the following information to ensure the GNU Affero *
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* Public License version 3.0 requirements will be met: *
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* https://www.gnu.org/licenses/agpl-3.0.html. *
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* *
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* Other Usage *
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* Alternatively, this file may be used in accordance with the terms and *
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* conditions contained in a signed written agreement between you and *
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* gempa GmbH. *
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***************************************************************************/
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#ifndef SEISCOMP_MATH_MATRIX3_H
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#define SEISCOMP_MATH_MATRIX3_H
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#include <seiscomp/math/vector3.h>
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#include <string.h>
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namespace Seiscomp {
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namespace Math {
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template <typename T>
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struct Matrix3 {
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using Type = T;
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Matrix3() {}
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Matrix3(const Matrix3<T> &other) {
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*this = other;
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}
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Matrix3<T> &identity();
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Matrix3<T> &setRow(int row, const Vector3<T> &v);
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Matrix3<T> &setColumn(int col, const Vector3<T> &v);
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//! Returns a copy of the r-th row
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Vector3<T> row(int r) const;
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//! Returns a copy of the c-th column
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Vector3<T> column(int c) const;
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Matrix3<T> &loadRotateX(T theta);
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Matrix3<T> &loadRotateY(T theta);
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Matrix3<T> &loadRotateZ(T theta);
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Matrix3<T> &mult(const Matrix3<T> &a, const Matrix3<T> &b);
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Vector3<T> &transform(Vector3<T> &dst, const Vector3<T> &v) const;
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Vector3<T> &invTransform(Vector3<T> &dst, const Vector3<T> &v) const;
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Matrix3<T> &operator=(const Matrix3<T> &other) {
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memcpy(d, other.d, sizeof(d));
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return *this;
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}
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operator T *() { return (T*)this; }
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operator const T *() const { return (const T*)this; }
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T *operator[](size_t row) {
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return d[row];
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}
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const T *operator[](size_t row) const {
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return d[row];
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}
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Matrix3<T> operator*(const Matrix3<T> &m) const;
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Vector3<T> operator*(const Vector3<T> &v) const;
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static Matrix3<T> RotationX(T theta);
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static Matrix3<T> RotationY(T theta);
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static Matrix3<T> RotationZ(T theta);
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// Coefficients
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union {
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T d[3][3];
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struct {
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T _11, _12, _13;
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T _21, _22, _23;
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T _31, _32, _33;
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} c;
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};
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};
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using Matrix3f = Matrix3<float>;
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using Matrix3d = Matrix3<double>;
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#include <seiscomp/math/matrix3.ipp>
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template <typename T>
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std::ostream &operator<<(std::ostream &os, const Matrix3<T> &v);
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} // namespace Math
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} // namespace Seiscomp
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#endif
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