--- trunk/src/math/SquareMatrix3.hpp	2005/04/15 22:04:00	507
+++ trunk/src/math/SquareMatrix3.hpp	2006/02/22 20:35:16	891
@@ -166,8 +166,28 @@ namespace oopse {
     void setupRotMat(Real w, Real x, Real y, Real z) {
       Quaternion<Real> q(w, x, y, z);
       *this = q.toRotationMatrix3();
+    }
+
+    void setupSkewMat(Vector3<Real> v) {
+        setupSkewMat(v[0], v[1], v[2]);
+    }
+
+    void setupSkewMat(Real v1, Real v2, Real v3) {
+        this->data_[0][0] = 0;
+        this->data_[0][1] = -v3;
+        this->data_[0][2] = v2;
+        this->data_[1][0] = v3;
+        this->data_[1][1] = 0;
+        this->data_[1][2] = -v1;
+        this->data_[2][0] = -v2;
+        this->data_[2][1] = v1;
+        this->data_[2][2] = 0;
+        
+        
     }
 
+
+
     /**
      * Returns the quaternion from this rotation matrix
      * @return the quaternion from this rotation matrix
@@ -188,9 +208,9 @@ namespace oopse {
 	q[3] = (this->data_[0][1] - this->data_[1][0]) * s;
       } else {
 
-	ad1 = fabs( this->data_[0][0] );
-	ad2 = fabs( this->data_[1][1] );
-	ad3 = fabs( this->data_[2][2] );
+	ad1 = this->data_[0][0];
+	ad2 = this->data_[1][1];
+	ad3 = this->data_[2][2];
 
 	if( ad1 >= ad2 && ad1 >= ad3 ){
 
@@ -316,6 +336,16 @@ namespace oopse {
 
       m /= det;
       return m;
+    }
+
+    SquareMatrix3<Real> transpose() const{
+      SquareMatrix3<Real> result;
+                
+      for (unsigned int i = 0; i < 3; i++)
+	for (unsigned int j = 0; j < 3; j++)              
+	  result(j, i) = this->data_[i][j];
+
+      return result;
     }
     /**
      * Extract the eigenvalues and eigenvectors from a 3x3 matrix.