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<div id="projectname">Templates -- Meow
 <span id="projectnumber">1.1.2</span>
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<div id="projectbrief">不能,也不應該先編譯成obj-file的templates</div>
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<div class="title">LinearTransformations.h</div> </div>
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<a href="LinearTransformations_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef math_LinearTransformations_H__</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor"></span><span class="preprocessor">#define math_LinearTransformations_H__</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "<a class="code" href="LinearTransformation_8h.html">LinearTransformation.h</a>"</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="Matrix_8h.html">Matrix.h</a>"</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="math_2utility_8h.html">utility.h</a>"</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "../Self.h"</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "../geo/Vectors.h"</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <cstdlib></span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">namespace </span>meow {</div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">template</span><<span class="keyword">class</span> Scalar></div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html"> 20</a></span> <span class="keyword">class </span><a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a>: <span class="keyword">public</span> <a class="code" href="classmeow_1_1LinearTransformation.html" title="A base class for implementing kinds of linear transformations.">LinearTransformation</a><Scalar> {</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">struct </span>Myself {</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="classmeow_1_1Vector3D.html" title="3D's vector">Vector3D<Scalar></a> theta_;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordtype">bool</span> need_;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  Myself() {</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  }</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  ~Myself() {</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  }</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  Myself& <a class="code" href="classmeow_1_1Rotation3D.html#a8ce437d591d81cc81be959d6f27e71c9" title="Copy data.">copyFrom</a>(Myself <span class="keyword">const</span>& b) {</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  theta_ = b.theta_;</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  need_ = b.need_;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  }</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  };</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classmeow_1_1Self.html">Self<Myself></a> <span class="keyword">const</span>& <span class="keyword">self</span>;</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordtype">void</span> calcMatrix()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">if</span> (self->need_) {</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a> axis (self->theta_.normalize());</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordtype">double</span> angle(self->theta_.length());</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">double</span> cs(cos(angle / 2.0));</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">double</span> sn(sin(angle / 2.0));</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> tmp(3, 3, Scalar(0.0));</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(0, 0, 2*(<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(axis.x())-1.0)*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) + 1);</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(1, 1, 2*(<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(axis.y())-1.0)*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) + 1);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(2, 2, 2*(<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(axis.z())-1.0)*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) + 1);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(0, 1, 2*axis.x()*axis.y()*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) - 2*axis.z()*cs*sn);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(1, 0, 2*axis.y()*axis.x()*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) + 2*axis.z()*cs*sn);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(0, 2, 2*axis.x()*axis.z()*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) + 2*axis.y()*cs*sn);</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(2, 0, 2*axis.z()*axis.x()*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) - 2*axis.y()*cs*sn);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(1, 2, 2*axis.y()*axis.z()*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) - 2*axis.x()*cs*sn);</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  tmp.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(2, 1, 2*axis.z()*axis.y()*<a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573" title="x*x ">squ</a>(sn) + 2*axis.x()*cs*sn);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  ((<a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a>*)<span class="keyword">this</span>)->matrix(tmp);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">self</span>()->need_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  }</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a90c102c7f74e8a36ac0d24bef6b06337"> 65</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html#a90c102c7f74e8a36ac0d24bef6b06337">Rotation3D</a>(): <a class="code" href="classmeow_1_1LinearTransformation.html" title="A base class for implementing kinds of linear transformations.">LinearTransformation</a><Scalar>(3u, 3u, 3u),</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  self(true) {</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">self</span>()->theta_.x(Scalar(0));</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">self</span>()->theta_.y(Scalar(0));</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">self</span>()->theta_.z(Scalar(0));</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">self</span>()->need_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  calcMatrix();</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#ab566bace2339705305d7e18c36116d2a"> 77</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html#a90c102c7f74e8a36ac0d24bef6b06337">Rotation3D</a>(<a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a> <span class="keyword">const</span>& b): <a class="code" href="classmeow_1_1LinearTransformation.html" title="A base class for implementing kinds of linear transformations.">LinearTransformation</a><Scalar>(b),</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  self(false) {</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classmeow_1_1Rotation3D.html#a8ce437d591d81cc81be959d6f27e71c9" title="Copy data.">copyFrom</a>(b);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#aa9ce2a9c913ea08ba7fb43aed4784a2b"> 85</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html#aa9ce2a9c913ea08ba7fb43aed4784a2b">~Rotation3D</a>() {</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a8ce437d591d81cc81be959d6f27e71c9"> 94</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a>& <a class="code" href="classmeow_1_1Rotation3D.html#a8ce437d591d81cc81be959d6f27e71c9" title="Copy data.">copyFrom</a>(<a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a> <span class="keyword">const</span>& b) {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <a class="code" href="classmeow_1_1LinearTransformation.html#afb3ea3e2653152b7b5a8bbad952d3f0e" title="Copy settings, matrix from another LinearTransformation.">LinearTransformation<Scalar>::copyFrom</a>(b);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">self</span>().<a class="code" href="classmeow_1_1Rotation3D.html#a8ce437d591d81cc81be959d6f27e71c9" title="Copy data.">copyFrom</a>(b.self);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#ac2919c38518ea677a85df8757bd8f0d9"> 106</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a>& <a class="code" href="classmeow_1_1Rotation3D.html#ac2919c38518ea677a85df8757bd8f0d9" title="Reference data.">referenceFrom</a>(<a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a> <span class="keyword">const</span>& b) {</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <a class="code" href="classmeow_1_1LinearTransformation.html#a573c034e179570f7a1c41f0c1de54c87" title="Reference settings, matrix from another LinearTransformation.">LinearTransformation<Scalar>::referenceFrom</a>(b);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keyword">self</span>().<a class="code" href="classmeow_1_1Rotation3D.html#ac2919c38518ea677a85df8757bd8f0d9" title="Reference data.">referenceFrom</a>(b.self);</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  }</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#ac6488df50303b564262065350186549a"> 115</a></span>  Scalar <a class="code" href="classmeow_1_1Rotation3D.html#ac6488df50303b564262065350186549a" title="same as theta(i) ">parameter</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd" title="Get the i -th theta.">theta</a>(i);</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a0a7c3b7f605caf7bc54f80b25b317972"> 122</a></span>  Scalar <a class="code" href="classmeow_1_1Rotation3D.html#a0a7c3b7f605caf7bc54f80b25b317972" title="same as theta(i, s) ">parameter</a>(<span class="keywordtype">size_t</span> i, Scalar <span class="keyword">const</span>& s) {</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd" title="Get the i -th theta.">theta</a>(i, s);</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  }</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd"> 134</a></span>  Scalar <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd" title="Get the i -th theta.">theta</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->theta_(i);</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  }</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a77a863b230bcacdfaf5a534f17268170"> 147</a></span>  Scalar <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Rotation3D.html#a77a863b230bcacdfaf5a534f17268170" title="Set the i -th theta.">theta</a>(<span class="keywordtype">size_t</span> i, Scalar <span class="keyword">const</span>& s) {</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">if</span> (<a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd" title="Get the i -th theta.">theta</a>(i) != s) {</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">if</span> (i == 0) <span class="keyword">self</span>()->theta_.x(s);</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (i == 1) <span class="keyword">self</span>()->theta_.y(s);</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (i == 2) <span class="keyword">self</span>()->theta_.z(s);</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keyword">self</span>()->need_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd" title="Get the i -th theta.">theta</a>(i);</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  }</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a757a196f261a28693061c5e16be97ab6"> 163</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmeow_1_1Rotation3D.html#a757a196f261a28693061c5e16be97ab6" title="Setting.">axisAngle</a>(<a class="code" href="classmeow_1_1Vector.html" title="vector ">Vector<Scalar></a> <span class="keyword">const</span>& axis, Scalar <span class="keyword">const</span>& angle) {</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="classmeow_1_1Vector.html" title="vector ">Vector<Scalar></a> n(axis.<a class="code" href="classmeow_1_1Vector.html#ab675b777186dd4903367bc77922893ee" title="return a normalize form of itself">normalize</a>());</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < 3; i++) {</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd" title="Get the i -th theta.">theta</a>(i, n(i) * angle);</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  }</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  </div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a29ca99627654b9d136c12f6e0e2c91c5"> 174</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a>& <a class="code" href="classmeow_1_1Rotation3D.html#a29ca99627654b9d136c12f6e0e2c91c5" title="Concat another rotation transformation.">add</a>(<a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a> <span class="keyword">const</span>& r) {</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < 3; i++) {</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd" title="Get the i -th theta.">theta</a>(i, r.<a class="code" href="classmeow_1_1Rotation3D.html#aeceaa78749d4bd9f5d638591298073dd" title="Get the i -th theta.">theta</a>(i));</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a566ebd46881ef0165aab55a4cf4ca169"> 216</a></span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <a class="code" href="classmeow_1_1Rotation3D.html#a566ebd46881ef0165aab55a4cf4ca169" title="Do the transformate.">transformate</a>(<a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <span class="keyword">const</span>& x)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordflow">if</span> (self->need_) calcMatrix();</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1LinearTransformation.html#aeab1cf88fc67a1857504bd2fb18519f5" title="Return the matrix form of this transformation.">LinearTransformation<Scalar>::matrix</a>() * x;</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  }</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a4846e5870c41f3694678d8acf032b8df"> 246</a></span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <a class="code" href="classmeow_1_1Rotation3D.html#a4846e5870c41f3694678d8acf032b8df" title="Return the jacobian matrix (derivate by the input vector) of this transformate.">jacobian</a>(<a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <span class="keyword">const</span>& x)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">if</span> (self->need_) calcMatrix();</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1LinearTransformation.html#aeab1cf88fc67a1857504bd2fb18519f5" title="Return the matrix form of this transformation.">LinearTransformation<Scalar>::matrix</a>();</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  }</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  </div>
<div class="line"><a name="l00323"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a201c56debd6cc0f4e75cb06148197726"> 323</a></span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <a class="code" href="classmeow_1_1Rotation3D.html#a201c56debd6cc0f4e75cb06148197726" title="Return the jacobian matrix of this transformate.">jacobian</a>(<a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <span class="keyword">const</span>& x, <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordflow">if</span> (self->need_) calcMatrix();</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> mid(3u, 3u, Scalar(0.0));</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordflow">if</span> (i == 0) {</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(1, 2, Scalar(-1.0));</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(2, 1, Scalar( 1.0));</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  }</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>(i == 1) {</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(0, 2, Scalar( 1.0));</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(2, 0, Scalar(-1.0));</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  }</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(0, 1, Scalar(-1.0));</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(1, 0, Scalar( 1.0));</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  }</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keywordflow">return</span> mid * <a class="code" href="classmeow_1_1LinearTransformation.html#aeab1cf88fc67a1857504bd2fb18519f5" title="Return the matrix form of this transformation.">LinearTransformation<Scalar>::matrix</a>() * x;</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  }</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> </div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#aa872f44ce5b53faadddc9493697cfe13"> 347</a></span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <a class="code" href="classmeow_1_1Rotation3D.html#aa872f44ce5b53faadddc9493697cfe13" title="Do the inverse transformate.">transformateInv</a>(<a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <span class="keyword">const</span>& x)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keywordflow">if</span> (self->need_) calcMatrix();</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1LinearTransformation.html#aeab1cf88fc67a1857504bd2fb18519f5" title="Return the matrix form of this transformation.">LinearTransformation<Scalar>::matrix</a>().<a class="code" href="classmeow_1_1Matrix.html#a869be60b593d7ce7101ee7ac788b0dd0" title="return itself's transpose matrix">transpose</a>() * x;</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  }</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  </div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#ae12a31cabc1260bd7256734f0e04acfb"> 358</a></span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <a class="code" href="classmeow_1_1Rotation3D.html#ae12a31cabc1260bd7256734f0e04acfb" title="Return the jacobian matrix of the inverse form of this transformate.">jacobianInv</a>(<a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <span class="keyword">const</span>& x)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <span class="keywordflow">if</span> (self->need_) calcMatrix();</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1LinearTransformation.html#aeab1cf88fc67a1857504bd2fb18519f5" title="Return the matrix form of this transformation.">LinearTransformation<Scalar>::matrix</a>().<a class="code" href="classmeow_1_1Matrix.html#a869be60b593d7ce7101ee7ac788b0dd0" title="return itself's transpose matrix">transpose</a>();</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  }</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  </div>
<div class="line"><a name="l00370"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#af2a38c66668f6dcc11005e8f42b81f2f"> 370</a></span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <a class="code" href="classmeow_1_1Rotation3D.html#af2a38c66668f6dcc11005e8f42b81f2f" title="Return the jacobian matrix of the inverse form of this transformate.">jacobianInv</a>(<a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <span class="keyword">const</span>& x, <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordflow">if</span> (self->need_) calcMatrix();</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> mid(3u, 3u, Scalar(0.0));</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keywordflow">if</span> (i == 0) {</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(1, 2, Scalar(-1.0));</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(2, 1, Scalar( 1.0));</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  }</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>(i == 1) {</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(0, 2, Scalar( 1.0));</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(2, 0, Scalar(-1.0));</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  }</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(0, 1, Scalar(-1.0));</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  mid.<a class="code" href="classmeow_1_1Matrix.html#a6adeb974bfb77936ed41e1a57726d7a4" title="Access the entry at r x c.">entry</a>(1, 0, Scalar( 1.0));</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  }</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordflow">return</span> mid.<a class="code" href="classmeow_1_1Matrix.html#a869be60b593d7ce7101ee7ac788b0dd0" title="return itself's transpose matrix">transpose</a>() * <a class="code" href="classmeow_1_1Rotation3D.html#a513851c5d53274b76fd9511ba1aea484" title="Return the inverse matrix.">matrixInv</a>() * x;</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  }</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span> </div>
<div class="line"><a name="l00395"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a513851c5d53274b76fd9511ba1aea484"> 395</a></span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> <a class="code" href="classmeow_1_1Rotation3D.html#a513851c5d53274b76fd9511ba1aea484" title="Return the inverse matrix.">matrixInv</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">if</span> (self->need_) calcMatrix();</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1LinearTransformation.html#aeab1cf88fc67a1857504bd2fb18519f5" title="Return the matrix form of this transformation.">LinearTransformation<Scalar>::matrix</a>().<a class="code" href="classmeow_1_1Matrix.html#a869be60b593d7ce7101ee7ac788b0dd0" title="return itself's transpose matrix">transpose</a>();</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  }</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  </div>
<div class="line"><a name="l00401"></a><span class="lineno"><a class="code" href="classmeow_1_1Rotation3D.html#a3e0095d1f506d6f11c434d55e454aca6"> 401</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a>& <a class="code" href="classmeow_1_1Rotation3D.html#a3e0095d1f506d6f11c434d55e454aca6" title="same as copyFrom(b) ">operator=</a>(<a class="code" href="classmeow_1_1Rotation3D.html" title="Rotation a point/vector alone an axis with given angle in 3D world.">Rotation3D</a> <span class="keyword">const</span>& b) {</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Rotation3D.html#a8ce437d591d81cc81be959d6f27e71c9" title="Copy data.">copyFrom</a>(b);</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  }</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> };</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> </div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span> }</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> </div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> <span class="preprocessor">#endif // math_LinearTransformations_H__</span></div>
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