Program Listing for File RotationMatrix.h

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#pragmaonce

#include"Karana/Math/Defs.h"
#include<csignal>

namespaceKarana::Math{

usingnamespaceEigen;

classRotationVector;

classRotationMatrix:publicMat33{

//Constructors
public:
RotationMatrix();

RotationMatrix(constMat33&mat,
boolorthogonalize=false,
boolskip_values_check=false);

RotationMatrix(constRotationVector&rotvec);

//Copyconstructor,moveconstructor,andassignmentoperators
public:
RotationMatrix(constRotationMatrix&rv);

RotationMatrix&operator=(constRotationMatrix&other);

RotationMatrix(RotationMatrix&&rv)noexcept;

RotationMatrix&operator=(RotationMatrix&&other)noexcept;

public:
booloperator==(constRotationMatrix&other);

boolisApprox(constRotationMatrix&other,doubleprec=MATH_EPSILON);

std::stringtypeString()const;

void
setValues(constMat33&mat,boolorthogonalize=false,boolskip_values_check=false);

private:
void_setValues(boolorthogonalize=false,boolskip_values_check=false);

void_isOrthogonal(doubleepsilon=MATH_EPSILON)const;

void_orthogonalize();
};

}//namespaceKarana::Math