rotmat.h

Go to the documentation of this file.

#pragma once
#if __has_include("defs.h")
#include "defs.h"
#endif
 
namespace mlib {
 
class RotMat
{
public:
  RotMat ();
 
  RotMat (double rx, double ry, double rz);
 
  void x_rotation (double angle);
 
  void y_rotation (double angle);
 
  void z_rotation (double angle);
 
  void rotate (double& x, double& y, double& z) const;
 
  void rotate (double* vec) const;
 
  double (&matrix ())[3][3];
 
private:
  double r[3][3];
  void multiply (double m[3][3]);
};
 
inline double (&RotMat::matrix ())[3][3]
{
  return r;
}
 
} // namespace mlib