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/****************************************************************************
* Copyright (C) 2006-2008 Adrien Saladin *
* adrien.saladin@gmail.com *
* Copyright (C) 2008 Pierre Poulain *
* Copyright (C) 2008 Sebastien Fiorucci *
* Copyright (C) 2008 Chantal Prevost *
* Copyright (C) 2008 Martin Zacharias *
* *
* This program is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
* *
***************************************************************************/
#ifndef _SUPERPOSE_H_
#define _SUPERPOSE_H_
#include <iostream>
#include "screw.h"
#include "rigidbody.h"
namespace PTools
{
typedef double Mat33[3][3];
typedef double Mat44[4][4];
void Rotate(Rigidbody& rigid, Mat33 mat);
void Mat44toMat33trans(Mat44 mat44, Mat33 mat33, Coord3D& trans);
Screw MatTrans2screw(const Matrix& mat); // transforme t(r(X)) en un vissage d'axe de rotation colineaire au vecteur translation.
Superpose_t superpose(const Rigidbody& ref, const Rigidbody& mob, int verbosity=0);
}
#endif
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