File indexing completed on 2024-04-14 03:46:56
0001 // SPDX-License-Identifier: LGPL-2.1-or-later 0002 // 0003 // SPDX-FileCopyrightText: 2014 Gerhard Holtkamp 0004 // 0005 0006 #if !defined(__attlib_h) 0007 #define __attlib_h 0008 0009 /*********************************************************************** 0010 3-Dim Vector and Matrix Definitions and Operations 0011 0012 License: GNU LGPL Version 2+ 0013 0014 Author: Gerhard HOLTKAMP 14-JAN-2012 0015 ***********************************************************************/ 0016 0017 #include <iostream> 0018 #include "astrolib_export.h" 0019 0020 0021 ASTROLIB_EXPORT double atan20 (double y, double x); 0022 0023 class ASTROLIB_EXPORT Vec3 0024 { 0025 private: 0026 double v[3]; 0027 0028 public: 0029 0030 friend class Mat3; 0031 0032 Vec3(double x=0, double y=0, double z=0); 0033 Vec3 (const Vec3& c); 0034 void assign (double x=0, double y=0, double z=0); 0035 double& operator [] (unsigned index); 0036 Vec3& operator = (const Vec3& c); 0037 Vec3& operator += (const Vec3& c); 0038 Vec3& operator -= (const Vec3& c); 0039 Vec3& operator *= (const Vec3& c); // cross product 0040 Vec3& operator *= (double r); 0041 Vec3& operator /= (double r); 0042 friend double abs(const Vec3& c); // absolute value 0043 friend double dot (const Vec3& c1, const Vec3& c2); // dot product 0044 friend Vec3 operator + (const Vec3& c1, const Vec3& c2); 0045 friend Vec3 operator - (const Vec3& c1, const Vec3& c2); 0046 friend Vec3 operator * (double r, const Vec3& c1); 0047 friend Vec3 operator * (const Vec3& c1, double r); 0048 friend Vec3 operator * (const Vec3& c1, const Vec3& c2); // cross product 0049 friend Vec3 operator / (const Vec3& c1, double r); 0050 friend Vec3 vnorm(const Vec3& c); // norm vector 0051 friend Vec3 carpol (const Vec3& c); // Cartesian -> Polar 0052 friend Vec3 polcar (const Vec3& c); // Polar -> Cartesian 0053 friend std::ostream& operator << (std::ostream& os, const Vec3& c); 0054 }; 0055 0056 /********************************************************************/ 0057 0058 // class Mat3: public Vec3 0059 class ASTROLIB_EXPORT Mat3 0060 { 0061 public: 0062 double m[3][3]; 0063 0064 explicit Mat3(double x=0); 0065 Mat3 (const Mat3& c); 0066 void assign (double x11, double x12, double x13, double x21, double x22, 0067 double x23, double x31, double x32, double x33); 0068 void assign (double x[3][3]); // assign matrix 0069 void PutMij (double x, int i, int j); // put single matrix element 0070 double GetMij (int i, int j); // get single matrix element 0071 Mat3& operator = (const Mat3& c); 0072 Mat3& operator += (const Mat3& c); 0073 Mat3& operator -= (const Mat3& c); 0074 Mat3& operator *= (const Mat3& c); 0075 Mat3& operator *= (double r); 0076 Mat3& operator /= (double r); 0077 friend Mat3 mxtrn (const Mat3& m1); // transposed matrix 0078 friend double mxdet (const Mat3& c); // determinant 0079 friend Mat3 operator + (const Mat3& c1, const Mat3& c2); 0080 friend Mat3 operator - (const Mat3& c1, const Mat3& c2); 0081 friend Mat3 operator * (double r, const Mat3& c1); 0082 friend Mat3 operator * (const Mat3& c1, double r); 0083 friend Mat3 operator * (const Mat3& c1, const Mat3& c2); 0084 friend Mat3 operator / (const Mat3& c1, double r); 0085 friend Vec3 mxvct (const Mat3& m1, Vec3& v1); // multiply vector with matrix 0086 friend void gpyr (const Mat3& m1, double& p, double& y, double& r); // get p/y/r 0087 friend void mxevc (const Mat3& m, double& a, Vec3& v); // eigenvector 0088 friend std::ostream& operator << (std::ostream& os, const Mat3& c); 0089 }; 0090 0091 // **************************************************************************** 0092 // defining the following functions here seems to make more compilers happy 0093 Mat3 mxcon (double r); // constant matrix 0094 Mat3 mxidn (); // identity matrix 0095 // friend Mat3 mxtrn (const Mat3& m1); // transposed matrix 0096 Mat3 xrot (double a); // rotation around x-axis 0097 Mat3 yrot (double a); // rotation around y-axis 0098 Mat3 zrot (double a); // rotation around z-axis 0099 0100 Mat3 csmx (double p, double y, double r); // pitch/yaw/roll matrix 0101 void vcpy (Vec3& v, double& p, double& y); // get pitch and yaw from vector 0102 void vcrp (Vec3& v, double& p, double& r); // get pitch and roll from vector 0103 Mat3 mxrox (double& a, Vec3& v); // get matrix from eigenvector and angle 0104 0105 #endif // __attlib_h sentry. 0106