JRotator3D.hh

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#ifndef __JROTATOR3D__
#define __JROTATOR3D__
 
#include <vector>
 
#include "JGeometry3D/JMatrix3D.hh"
#include "JGeometry3D/JOmega3D.hh"
 
 
/**
 * \author mdejong
 */
 
namespace JGEOMETRY3D {}
namespace JPP { using namespace JGEOMETRY3D; }
 
namespace JGEOMETRY3D {
 
 
  /**
   * Type definition of rotation set.
   */
  typedef std::vector<JRotation3D>  JRotator3D_t;
 
 
  /**
   * Rotation set.
   */
  class JRotator3D :
    public JRotator3D_t
  {
  public:
    /**
     * Default constructor.
     */
    JRotator3D() :
      JRotator3D_t()
    {}
 
 
    /**
     * Constructor.
     *
     * Any sequence of <= n rotations is equivalent to a single rotation corresponding
     * to the nth input direction (i.e. X.rotate(JRotation3D(omega[n])))
     * A final rotation is added to restore the original coordinate system. 
     *
     * \param  omega         direction set
     */
    JRotator3D(const JOmega3D_t& omega) :
      JRotator3D_t()
    {
      if (!omega.empty()) {
 
        JOmega3D_t::const_iterator dir = omega.begin();
 
        JRotation3D R(*dir);
 
        push_back(R);
 
        while (++dir != omega.end()) {
 
          JRotation3D r(*dir);
 
          push_back(r.mul(R.transpose()));
 
          R = JRotation3D(*dir);
        }
 
        push_back(R.transpose());
      }
    }    
  };
}
 
#endif