Matrix4.hh

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/*
 * Copyright (C) 2012-2015 Open Source Robotics Foundation
 *
 * 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 _MATRIX4_HH_
#define _MATRIX4_HH_

#include <assert.h>
#include <iostream>

#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Matrix3.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace math
  {
    class Quaternion;
    class Pose;


    class GAZEBO_VISIBLE Matrix4
    {
      public: Matrix4();

      public: Matrix4(const Matrix4 &_m);

      public: Matrix4(double _v00, double _v01, double _v02, double _v03,
                      double _v10, double _v11, double _v12, double _v13,
                      double _v20, double _v21, double _v22, double _v23,
                      double _v30, double _v31, double _v32, double _v33);

      public: virtual ~Matrix4();

      public: void Set(double _v00, double _v01, double _v02, double _v03,
                       double _v10, double _v11, double _v12, double _v13,
                       double _v20, double _v21, double _v22, double _v23,
                       double _v30, double _v31, double _v32, double _v33);



      public: void SetTranslate(const Vector3 &_t);

      public: Vector3 GetTranslation() const;

      public: Quaternion GetRotation() const;

      public: Vector3 GetEulerRotation(unsigned int solution_number = 1) const;

      public: math::Pose GetAsPose() const;

      public: void SetScale(const Vector3 &_s);

      public: bool IsAffine() const;

      public: Vector3 TransformAffine(const Vector3 &_v) const;

      public: Matrix4 Inverse() const;

      public: Matrix4 &operator =(const Matrix4 &_mat);

      public: const Matrix4 & operator =(const Matrix3 &_mat);

      public: Matrix4 operator*(const Matrix4 &_mat) const;

      public: Matrix4 operator*(const Matrix3 &_mat) const;


      public: Vector3 operator*(const Vector3 &_vec) const;

      public: inline double *operator[](size_t _row)
              {
                assert(_row < 4);
                return this->m[_row];
              }
       public: inline const double *operator[](size_t _row) const
              {
                assert(_row < 4);
                return this->m[_row];
              }

      public: bool operator==(const Matrix4 &_m) const;

      public: friend std::ostream &operator<<(std::ostream &_out,
                                               const gazebo::math::Matrix4 &_m)
            {
              for (int i = 0; i < 4; i++)
              {
                for (int j = 0; j < 4; j++)
                {
                  _out << (fabs(_m.m[i][j]) < 1e-6 ? 0 : _m.m[i][j]) << " ";
                }
                _out << "\n";
              }

              return _out;
            }

      public: static const Matrix4 IDENTITY;

      public: static const Matrix4 ZERO;

      protected: double m[4][4];
    };
  }
}
#endif