Program Listing for File HomTran.h

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#pragmaonce

#include"Karana/Math/Defs.h"
#include"Karana/Math/SpatialVector.h"
#include"Karana/Math/UnitQuaternion.h"

namespaceKarana::Math{
usingnamespaceEigen;

classHomTran{

public:
HomTran();

HomTran(constVec3&vec,doubleepsilon=MATH_EPSILON);

HomTran(constUnitQuaternion&q,doubleepsilon=MATH_EPSILON);

HomTran(constUnitQuaternion&q,constVec3&vec,doubleepsilon=MATH_EPSILON);

HomTran(constHomTran&T);

HomTran&operator=(constHomTran&T);

HomTran(HomTran&&T)noexcept;

HomTran&operator=(HomTran&&T)noexcept;

booloperator==(constHomTran&other)const;

boolisApprox(constHomTran&other,doubleprec=MATH_EPSILON)const;

std::string_viewtypeString()const;

voidsetTranslation(constVec3&vec,doubleepsilon=MATH_EPSILON);

voiduninitialize();

boolisInitialized()const;

std::stringdumpString(std::string_viewprefix="",
unsignedintprecision=6,
boolexponential=false)const;

voiddump(std::string_viewprefix="",
unsignedintprecision=10,
boolexponential=false)const;

voidsetUnitQuaternion(constUnitQuaternion&q,doubleepsilon=MATH_EPSILON);

Mat44getMatrix()const;

constVec3&getTranslation()const;

constUnitQuaternion&getUnitQuaternion()const;

Vec6toVector6()const;

voidsetIdentity();

boolisIdentity()const;

boolhasTranslation()const;

boolhasRotation()const;

HomTranoperator*(constHomTran&T)const;

Vec3operator*(constVec3&v)const;

HomTraninverse()const;

SpatialVectorphi(constSpatialVector&V)const;

SpatialVectorphiVec(constVec6&V)const;

Mat6nphiMat(constMat6n&m)const;

Mat66phiSymmetric(constMat66&m)const;

SpatialVectorphiStar(constSpatialVector&V)const;

SpatialVectorphiStarVec(constVec6&V)const;

Mat6nphiStarMat(constMat6n&m)const;

Mat66phiStarSymmetric(constMat66&m)const;

constMat66&phiMatrix()const;

private:
void_updatePhiMatrix()const;

void_checkUnitQuaternion(doubleepsilon=MATH_EPSILON);

void_checkTranslation(doubleepsilon=MATH_EPSILON);

UnitQuaternion_q=UnitQuaternion(0,0,0,1,false,true);
Vec3_vec=Vec3(0,0,0);
bool_has_rotation=false,
_has_translation=false;

mutablebool_cached_phi_matrix_flag=false;
mutableMat66_cached_phi_matrix;
};

}//namespaceKarana::Math