so2.h

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// -*- c++ -*-

// Copyright (C) 2005,2009 Tom Drummond (twd20@cam.ac.uk),
// Ed Rosten (er258@cam.ac.uk), Gerhard Reitmayr (gr281@cam.ac.uk)
//
// This file is part of the TooN Library.  This library is free
// software; you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the
// Free Software Foundation; either version 2, or (at your option)
// any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.

// You should have received a copy of the GNU General Public License along
// with this library; see the file COPYING.  If not, write to the Free
// Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307,
// USA.

// As a special exception, you may use this file as part of a free software
// library without restriction.  Specifically, if other files instantiate
// templates or use macros or inline functions from this file, or you compile
// this file and link it with other files to produce an executable, this
// file does not by itself cause the resulting executable to be covered by
// the GNU General Public License.  This exception does not however
// invalidate any other reasons why the executable file might be covered by
// the GNU General Public License.

#ifndef TOON_INCLUDE_SO2_H
#define TOON_INCLUDE_SO2_H

#include <TooN/TooN.h>
#include <TooN/helpers.h>

namespace TooN {

template<typename Precision> class SO2;
template <typename Precision> class SE2;

template<typename Precision> inline std::istream & operator>>(std::istream &, SO2<Precision> & );
template<typename Precision> inline std::istream & operator>>(std::istream &, SE2<Precision> & );

template<typename Precision = double>
class SO2 {
        friend std::istream& operator>> <Precision>(std::istream&, SO2& );
        friend std::istream& operator>> <Precision>(std::istream&, SE2<Precision>& );

public:
        SO2() : my_matrix(Identity) {} 
        
        SO2(const Matrix<2,2,Precision>& rhs) {  *this = rhs; }
        
        SO2(const Precision l) { *this = exp(l); }
  
        template <int R, int C, typename P, typename A> 
        inline SO2& operator=(const Matrix<R,C,P,A>& rhs){
                my_matrix = rhs;
                coerce();
                return *this;
        }

        void coerce(){
                my_matrix[0] = unit(my_matrix[0]);
                my_matrix[1] -= my_matrix[0] * (my_matrix[0]*my_matrix[1]);
                my_matrix[1] = unit(my_matrix[1]);
        }

        inline static SO2 exp(const Precision & d){
                SO2<Precision> result;
                result.my_matrix[0][0] = result.my_matrix[1][1] = cos(d);
                result.my_matrix[1][0] = sin(d);
                result.my_matrix[0][1] = -result.my_matrix[1][0];
                return result;
        }

        Precision ln() const { return atan2(my_matrix[1][0], my_matrix[0][0]); }

        SO2 inverse() const { return SO2(*this, Invert()); }

        SO2& operator *=(const SO2& rhs){
                my_matrix=my_matrix*rhs.my_matrix;
                return *this;
        }

        SO2 operator *(const SO2& rhs) const { return SO2(*this,rhs); }

        const Matrix<2,2,Precision>& get_matrix() const {return my_matrix;}

        static Matrix<2,2,Precision> generator() {
                Matrix<2,2,Precision> result;
                result[0] = makeVector(0,-1);
                result[1] = makeVector(1,0);
                return result;
        }

 private:
        struct Invert {};
        inline SO2(const SO2& so2, const Invert&) : my_matrix(so2.my_matrix.T()) {}
        inline SO2(const SO2& a, const SO2& b) : my_matrix(a.my_matrix*b.my_matrix) {}

        Matrix<2,2,Precision> my_matrix;
};

template <typename Precision>
inline std::ostream& operator<< (std::ostream& os, const SO2<Precision> & rhs){
        return os << rhs.get_matrix();
}

template <typename Precision>
inline std::istream& operator>>(std::istream& is, SO2<Precision>& rhs){
        return is >> rhs.my_matrix;
        rhs.coerce();
}

template<int D, typename P1, typename PV, typename Accessor>
inline Vector<2, typename Internal::MultiplyType<P1, PV>::type> operator*(const SO2<P1> & lhs, const Vector<D, PV, Accessor> & rhs){
        return lhs.get_matrix() * rhs;
}

template<int D, typename P1, typename PV, typename Accessor>
inline Vector<2, typename Internal::MultiplyType<PV,P1>::type> operator*(const Vector<D, PV, Accessor>& lhs, const SO2<P1> & rhs){
        return lhs * rhs.get_matrix();
}

template <int R, int C, typename P1, typename P2, typename Accessor> 
inline Matrix<2,C,typename Internal::MultiplyType<P1,P2>::type> operator*(const SO2<P1> & lhs, const Matrix<R,C,P2,Accessor>& rhs){
        return lhs.get_matrix() * rhs;
}

template <int R, int C, typename P1, typename P2, typename Accessor>
inline Matrix<R,2,typename Internal::MultiplyType<P1,P2>::type> operator*(const Matrix<R,C,P1,Accessor>& lhs, const SO2<P2>& rhs){
        return lhs * rhs.get_matrix();
}

}

#endif

---

libtoon
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 10:09:37 2013