1 files changed, 0 insertions, 148 deletions
diff --git a/meowpp/math/LinearTransformations.hpp b/meowpp/math/LinearTransformations.hpp
deleted file mode 100644
index fcb5b8a..0000000
--- a/meowpp/math/LinearTransformations.hpp
+++ /dev/null
@@ -1,148 +0,0 @@
-#include "LinearTransformations.h"
-
-
-#include "utility.h"
-
-#include <cstdlib>
-#include <cmath>
-
-namespace meow{
-  template<class Scalar>
-  inline void
-  Rotation3D<Scalar>::calcMatrix(){
-    Scalar sum(0.0);
-    for(size_t i = 0; i < 3u; i++){
-      sum = sum + squ(_theta(i, 0));
-    }
-    Scalar t(sqrt(double(sum)));
-    std::vector<Scalar> u(3);
-    for(size_t i = 0; i < 3u; i++){
-      u[i] = _theta[i] / t;
-    }
-    Scalar cs(cos(double(t)));
-    Scalar sn(sin(double(t)));
-    
-    _matrix.entry(0, 0, cs + squ(u[0]) * ((1 - cs)));
-    _matrix.entry(1, 1, cs + squ(u[1]) * ((1 - cs)));
-    _matrix.entry(2, 2, cs + squ(u[2]) * ((1 - cs)));
-    _matrix.entry(0, 1, u[0] * u[1] * (1 - cs) - u[2] * sn);
-    _matrix.entry(1, 0, u[1] * u[0] * (1 - cs) + u[2] * sn);
-    _matrix.entry(0, 2, u[0] * u[2] * (1 - cs) + u[1] * sn);
-    _matrix.entry(2, 0, u[2] * u[0] * (1 - cs) - u[1] * sn);
-    _matrix.entry(1, 2, u[1] * u[2] * (1 - cs) - u[0] * sn);
-    _matrix.entry(2, 1, u[2] * u[1] * (1 - cs) + u[0] * sn);
-  }
-  
-  
-  template<class Scalar>
-  inline
-  Rotation3D<Scalar>::Rotation3D():
-  LinearTransformation(3u, 3u, 3u){
-    _theta[0] = _theta[1] = _theta[2] = Scalar(0);
-    _matrix.identitied();
-  }
-  
-  
-  template<class Scalar>
-  inline void
-  Rotation3D<Scalar>::axisTheta(Matrix<Scalar> const& __axis,
-                                Scalar         const& __theta){
-    Scalar sum(0.0);
-    for(size_t i = 0; i < 3u; i++)
-      sum = sum + squ(__axis(i, 0));
-    Scalar t(sqrt(double(sum)));
-    for(size_t i = 0; i < 3u; i++)
-      _theta[i] = __axis(i, 0) * __theta / t;
-    calcMatrix();
-  }
-  
-  
-  template<class Scalar>
-  inline Scalar
-  Rotation3D<Scalar>::parameter(size_t __i) const{
-    return _theta[__i];
-  }
-  
-  
-  template<class Scalar>
-  inline Scalar
-  Rotation3D<Scalar>::parameter(size_t __i, Scalar const& __s) const{
-    _theta[__i] =  __s;
-    calcMatrix();
-    return _theta[__i];
-  }
-  
-  
-  template<class Scalar>
-  inline Matrix<Scalar>
-  Rotation3D<Scalar>::transformate(Matrix<Scalar> const& __x) const{
-    return _matrix * __x;
-  }
-  
-  
-  template<class Scalar>
-  inline Matrix<Scalar>
-  Rotation3D<Scalar>::jacobian(Matrix<Scalar> const& __x) const{
-    return _matrix;
-  }
-  
-  
-  template<class Scalar>
-  inline Matrix<Scalar>
-  Rotation3D<Scalar>::jacobian(Matrix<Scalar> const& __x,
-                               size_t                __i) const{
-    Matrix<Scalar> mid(3u, 3u, Scalar(0.0));
-    if(__i == 0){
-      mid.entry(1, 2, Scalar(-1.0));
-      mid.entry(2, 1, Scalar( 1.0));
-    }else if(__i == 1){
-      mid.entry(0, 2, Scalar( 1.0));
-      mid.entry(2, 0, Scalar(-1.0));
-    }else{
-      mid.entry(0, 1, Scalar(-1.0));
-      mid.entry(1, 0, Scalar( 1.0));
-    }
-    return _matrix * mid * __x;
-  }
-  
-  
-  template<class Scalar>
-  inline Matrix<Scalar>
-  Rotation3D<Scalar>::invTransformate(Matrix<Scalar> const& __x) const{
-    return _matrix.transpose() * __x;
-  }
-  
-  
-  template<class Scalar>
-  inline Matrix<Scalar>
-  Rotation3D<Scalar>::invJacobian(Matrix<Scalar> const& __x) const{
-    return _matrix.transpose();
-  }
-  
-  
-  template<class Scalar>
-  inline Matrix<Scalar>
-  Rotation3D<Scalar>::invJacobian(Matrix<Scalar> const& __x,
-                                  size_t                __i) const{
-    Matrix<Scalar> mid(3u, 3u, Scalar(0.0));
-    if(__i == 0){
-      mid.entry(1, 2, Scalar(-1.0));
-      mid.entry(2, 1, Scalar( 1.0));
-    }else if(__i == 1){
-      mid.entry(0, 2, Scalar( 1.0));
-      mid.entry(2, 0, Scalar(-1.0));
-    }else{
-      mid.entry(0, 1, Scalar(-1.0));
-      mid.entry(1, 0, Scalar( 1.0));
-    }
-    return _matrix.transpose() * mid.transpose() * __x;
-  }
-  
-  
-  template<class Scalar>
-  inline Matrix<Scalar>
-  Rotation3D<Scalar>::invMatrix() const{
-    return _matrix.transpose();
-  }
-}
-