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src/utilities/event-viewer/RotationMatrix.h

 

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#ifndef ROTATIONMATRIX_H

 

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#define ROTATIONMATRIX_H

 

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#include <iostream>

 

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#include <vector>

 

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#define PI 3.14159265

 

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class RotationMatrix {

 

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 public:

 

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  enum eAxis {X = 1, Y = 2, Z = 3};

 

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  static const unsigned int DIM = 3;

 

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  typedef double matrix[DIM][DIM];

 

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  RotationMatrix();//add setter to fill this

 

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  RotationMatrix(double angle, eAxis axis);

 

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  RotationMatrix(std::vector<double> elements);

 

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  void PrintMatrix();

 

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  void Transpose();

 

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  RotationMatrix operator*(const RotationMatrix& m);

 

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  std::vector<double> operator*(const std::vector<double>& v);

 

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 private:

 

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   matrix mat;

 

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};

 

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#endif // ROTATIONMATRIX_H

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