vlDcm.h

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/*********************************************************************
** Copyright (c) 1992-2010 MAK Technologies, Inc
** All rights reserved.
*********************************************************************/


#ifndef vlDcm_H_
#define vlDcm_H_

#include "vlVector.h"
#include "directedRotRate.h"



#ifdef DtUSE_UTILITIES_NAMESPACE
namespace DtUSE_UTILITIES_NAMESPACE
{
#endif

class DtQuaternion;
class DtTaitBryan;
class DT_DLL_MATRIX DtDcm;


typedef DtVector32 DtBodyRates;

class DT_DLL_MATRIX DtDcm
{
  public:

    DtDcm();

    DtDcm(double a, double b, double c, 
     double d, double e, double f, 
     double g, double h, double i); 

    DtDcm(const DtVector& a, const DtVector& b, const DtVector& c);

    DtDcm(const DtDcm &other);

    DtDcm(const DtQuaternion &quat);

    DtDcm(const DtTaitBryan &tb);

    DtDcm &operator=(const DtDcm &other);
   
    int operator==(const DtDcm& other) const;

    int operator!=(const DtDcm& other) const;

    bool isOrthonormal() const;

    operator DtVector* ();
    operator const DtVector* () const;

    DtVector &operator[](int i);
    const DtVector &operator[](int i) const;

    void print() const;

    void setToZero();

public:
   static const DtDcm& zero();
   static const DtDcm& identity();

protected:
    DtVector rep[3];
};


DT_DLL_MATRIX void      DtDcmDcmRotAxis(const DtDcm& a2ref, const DtDcm& b2ref, DtVector& n /* a2b */);
DT_DLL_MATRIX void      DtDcmDcmRotAxis(const DtDcm& a2ref, const DtDcm& b2ref, DtVector32& n /* a2b */);
DT_DLL_MATRIX void      DtDcmIdentInit(DtDcm& m);


DT_DLL_MATRIX void      DtDcmFixMatrix(DtDcm& mat, int axis);

DT_DLL_MATRIX double    DtDcmDeterminant(const DtDcm& m);
DT_DLL_MATRIX void      DtDcmAdd(const DtDcm& m1, const DtDcm& m2, DtDcm& result); /* result = m1 + m2 */
DT_DLL_MATRIX void      DtDcmSub(const DtDcm& m1, const DtDcm& m2, DtDcm& result); /* result = m1 - m2 */
DT_DLL_MATRIX void      DtDcmDcmMul(const DtDcm& m1, const DtDcm& m2, DtDcm& result); /* result = m1 x m2 */
DT_DLL_MATRIX void      DtDcmTranspose(const DtDcm& m, DtDcm& result);
DT_DLL_MATRIX void      DtDcmAdjugate(const DtDcm& m, DtDcm& result);
DT_DLL_MATRIX void      DtDcmInverse(const DtDcm& m, DtDcm& result);
DT_DLL_MATRIX double    DtDcmDcmRotAngle(const DtDcm& a, const DtDcm& b, double precision=1e-12);

DT_DLL_MATRIX void DtM_Init(const DtDcm& input,DtDcm& result,int flag);
DT_DLL_MATRIX void DtSetSym(DtDcm& v,double aa,double ab,double ac,double bb,double bc,double cc);

DT_DLL_MATRIX void DtCreateCross(const DtVector& r,DtDcm& ans);
DT_DLL_MATRIX void DtCreateCross(const DtVector32& r,DtDcm& ans);
DT_DLL_MATRIX void DtM(const DtVector& v,DtDcm& m);
DT_DLL_MATRIX void DtM(const DtVector32& v,DtDcm& m);
DT_DLL_MATRIX void DtRotate(DtDcm& ans,const DtVector& direction,double theta);
DT_DLL_MATRIX void DtRotate(DtDcm& ans,const DtVector32& direction,double theta);


DT_DLL_MATRIX void      DtDcmScale(const DtDcm& mat, double scale_factor, DtDcm& result);
DT_DLL_MATRIX void      DtDcmVecMul(const DtDcm& m, const DtVector& v, DtVector& result);
DT_DLL_MATRIX void      DtDcmVecMul(const DtDcm& m, const DtVector32& v, DtVector32& result);

DT_DLL_MATRIX void      DtDcmRotInit(DtDcm& m, double theta, int rot_axis);

DT_DLL_MATRIX void      DtDcmRotInit2(DtDcm& m, double sin_theta, int rot_axis);

DT_DLL_MATRIX void      DtDcmTrigInit(DtDcm& m, double sin_theta,
                                      double cos_theta, int rot_axis);

DT_DLL_MATRIX void      DtDcmForm(const double *axis, double angle,
                                  DtDcm& c, double *sin_ang, double *cos_ang);

DT_DLL_MATRIX void   DtTbToMat(const DtTaitBryan &tb, DtDcm& HcW);

DT_DLL_MATRIX void      DtDcmLevelInit (DtDcm& m, const DtVector& v);
DT_DLL_MATRIX void      DtDcmLevelInit (DtDcm& m, const DtVector32& v);

DT_DLL_MATRIX void   DtBodyToMat(DtBodyRates av, const DtDcm& HcW, DtDcm& cDot);


DT_DLL_MATRIX DtDirectedRotRate DtDirectRotRate(const DtVector& pqr);
DT_DLL_MATRIX DtDirectedRotRate DtDirectRotRate(const DtVector32& pqr);
DT_DLL_MATRIX void DtMakeRotationDcm(const DtDirectedRotRate& drr, double dt, DtDcm& m);

DT_DLL_MATRIX double DtDcmDcmRotTrace(const DtDcm& a, const DtDcm& b);

enum generic_mm_multflag
{
   TRANSPOSE_NONE = 0,
   TRANSPOSE_M1 = 1,
   TRANSPOSE_M2 = 2,
   TRANSPOSE_M1_AND_M2 = 3
};

DT_DLL_MATRIX double DtMM_Mult( const DtDcm& m1, const DtDcm& m2, DtDcm& result,
                                generic_mm_multflag flag=TRANSPOSE_NONE);


DT_DLL_MATRIX void      DtDcmDump(const char *str, const DtDcm& mat);

DT_DLL_MATRIX void      DtDcmFromQuaternion(DtDcm& m,const DtQuaternion *q);

DT_DLL_MATRIX int       DtDcmCheck(const DtDcm& m);

DT_DLL_MATRIX void      DtDcmCopy(const DtDcm& src, DtDcm& dest);

DT_DLL_MATRIX void      DtDcmInit(DtDcm& m);  

typedef const DtDcm &DtConstDcm;

typedef DtDcm &DtDcmRef;


#define vlDcm_inl
#include "vlDcm.inl"
#undef vlDcm_inl

#ifdef DtUSE_UTILITIES_NAMESPACE
}
#endif


#endif