Program Listing for File RotationVector.h

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#pragmaonce

#include"Karana/Math/Defs.h"

namespaceKarana::Math{

usingnamespaceEigen;

classRotationVector{

//Constructors
public:
RotationVector();

RotationVector(constVec3&vec);

//Copyconstructor,moveconstructor,andassignmentoperators
public:
RotationVector(constRotationVector&rv);

RotationVector&operator=(constRotationVector&other);

RotationVector(RotationVector&&rv)noexcept;

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

public:
booloperator==(constRotationVector&other)const;

boolisApprox(constRotationVector&other,doubleprec=MATH_EPSILON);

std::string_viewtypeString()const;

doubleangle()const;

Vec3unitAxis()const;

constVec3&toVec3()const;

voidmakeNotReady();

boolisReady()const;

public:
Vec3ratesToOmega(constVec3&rates,booloframe)const;

Vec3omegaToRates(constVec3&omega,booloframe)const;

Mat33ratesToOmegaMap(booloframe)const;

Mat33omegaToRatesMap(booloframe)const;

MatratesToQuatRatesMap()const;

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

private:
Vec3_coeffs;
};
}//namespaceKarana::Math