JEulerMatrix3D.hh

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#ifndef __JEULERMATRIX3D__
#define __JEULERMATRIX3D__
 
#include <cmath>
 
#include "JGeometry3D/JRotation3D.hh"
#include "JGeometry3D/JEulerAngle3D.hh"
 
 
/**
 * \author mdejong
 */
 
namespace JGEOMETRY3D {}
namespace JPP { using namespace JGEOMETRY3D; }
 
namespace JGEOMETRY3D {
 
 
  /**
   * Euler matrix
   *
   * The Euler matrix is a genuine 3D rotation matrix, i.e.
   * the inverse of an Euler matrix is equal to its tranpose.
   *
   * The Euler angles are defined as follows:
   *
   *    -# alpha      2D rotation around Z  -axis;
   *    -# beta       2D rotation around X' -axis;
   *    -# gamma      2D rotation around Z''-axis;
   */
  class JEulerMatrix3D :
    public JRotation3D
  {
  public:
    /**
     * Default constructor (= identity matrix).
     */
    JEulerMatrix3D() :
      JRotation3D()
    {}
 
 
    /**
     * Constructor.
     *
     * \param  euler  Euler angles
     */
    JEulerMatrix3D(const JEulerAngle3D& euler) :
      JRotation3D()
    {
      const double ca = cos(euler.getAlpha());
      const double sa = sin(euler.getAlpha());
      const double cb = cos(euler.getBeta());
      const double sb = sin(euler.getBeta());
      const double cg = cos(euler.getGamma());
      const double sg = sin(euler.getGamma());
 
      a00 =  cg*ca - sg*cb*sa;  a01 = -cg*sa - sg*cb*ca;  a02 =  sg*sb;
      a10 =  sg*ca + cg*cb*sa;  a11 = -sg*sa + cg*cb*ca;  a12 = -cg*sb;
      a20 =  sb*sa;             a21 =  sb*ca;             a22 =  cb;
    }
  };
}
 
#endif