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
 
#endif