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