Matrix3.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _MATRIX3_HH_
#define _MATRIX3_HH_

#include <assert.h>

#include "math/Vector3.hh"

namespace gazebo
{
  namespace math
  {

    class Matrix3
    {
      public: Matrix3();

      public: Matrix3(const Matrix3 &_m);

      public: Matrix3(double _v00, double _v01, double _v02,
                      double _v10, double _v11, double _v12,
                      double _v20, double _v21, double _v22);

      public: virtual ~Matrix3();

      public: void SetFromAxes(const Vector3 &_xAxis,
                               const Vector3 &_yAxis,
                               const Vector3 &_zAxis);


      public: void SetFromAxis(const Vector3 &_axis, double _angle);

      public: void SetCol(unsigned int _c, const Vector3 &_v);

      public: bool operator==(const Matrix3 &_m) const;

      public: inline const double *operator[](size_t _row) const
              {
                assert(_row < 3);
                return this->m[_row];
              }

      public: inline double *operator[](size_t _row)
              {
                assert(_row < 3);
                return this->m[_row];
              }


      public: friend std::ostream &operator<<(std::ostream &_out,
                                               const gazebo::math::Matrix3 &_m)
            {
              for (int i = 0; i < 3; i++)
              {
                for (int j = 0; j < 3; j++)
                {
                  _out << _m.m[i][j] << " ";
                }
                _out << "\n";
              }

              return _out;
            }

      protected: double m[3][3];

      friend class Matrix4;
    };
  }
}
#endif