OOPSE/libmdtools/Euler3.hpp

#ifndef _EULER3_H_
#define _EULER3_H_

class Quaternion;
class Mat3x3d;
class Vector3d;

class Euler3{
  public:
    Euler3();
    Euler3(double theta, double phi, double psi){
      this->theta = theta;
      this->phi = phi;
      this->psi = psi;
    }

    Euler3(double e[3]){
      theta = e[0];
      phi = e[1];
      psi = e[2];
    }

    Euler3(const Vector3d& v);
    
    Euler3(Mat3x3d& m);
    
    Euler3(Quaternion& q);
    
  public:
    union{
      struct{
        double theta;
        double phi;
        double psi;
      };
      double angle[3];
    };
};

#endif //endif idndef _EULER3_H_
Revision:	1254
Committed:	Wed Jun 9 16:16:33 2004 UTC (21 years, 5 months ago) by tim
File size:	615 byte(s)
Log Message:	1. adding some useful math classes(Mat3x3d, Vector3d, Quaternion, Euler3) these classes use anonymous union and struct to support double[3], double[3][3] and double[4] 2. adding roll constraint algorithm
#	User	Rev	Content
1	tim	1254	#ifndef _EULER3_H_
2			#define _EULER3_H_
3
4			class Quaternion;
5			class Mat3x3d;
6			class Vector3d;
7
8			class Euler3{
9			public:
10			Euler3();
11			Euler3(double theta, double phi, double psi){
12			this->theta = theta;
13			this->phi = phi;
14			this->psi = psi;
15			}
16
17			Euler3(double e[3]){
18			theta = e[0];
19			phi = e[1];
20			psi = e[2];
21			}
22
23			Euler3(const Vector3d& v);
24
25			Euler3(Mat3x3d& m);
26
27			Euler3(Quaternion& q);
28
29			public:
30			union{
31			struct{
32			double theta;
33			double phi;
34			double psi;
35			};
36			double angle[3];
37			};
38			};
39
40			#endif //endif idndef _EULER3_H_