Program Listing for File SimTran.h

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#pragmaonce

#include"Karana/Math/Defs.h"
#include"Karana/Math/HomTran.h"
#include"Karana/Math/UnitQuaternion.h"
#include<cmath>

namespaceKarana::Math{
usingnamespaceEigen;

classSimTran{

//Constructors
public:
SimTran();

SimTran(constHomTran&transform);

SimTran(doublescale);

SimTran(constHomTran&transform,doublescale);

SimTran(constSimTran&T);

SimTran&operator=(constSimTran&T);

SimTran(SimTran&&T)noexcept;

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

booloperator==(constSimTran&other)const;

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

std::stringtypeString()const;

voidsetTranslation(constVec3&vec,doubleepsilon=MATH_EPSILON);

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);

voidsetScale(doublescale);

constMat44getMatrix()const;

constVec3&getTranslation()const;

constUnitQuaternion&getUnitQuaternion()const;

doublegetScale()const;

voidsetIdentity();

boolisIdentity()const;

boolhasTranslation()const;

boolhasRotation()const;

boolhasScale()const;

SimTranoperator*(constSimTran&T)const;

Vec3operator*(constVec3&v)const;

SimTraninverse()const;

voiduninitialize();

boolisInitialized();

private:
double_scale=1.0;
HomTran_hom_tran=HomTran();
};

}//namespaceKarana::Math