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interval_matrix.h

00001 /*
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00034 
00038 #ifndef FCL_INTERVAL_MATRIX_H
00039 #define FCL_INTERVAL_MATRIX_H
00040 
00041 #include "fcl/ccd/interval.h"
00042 #include "fcl/ccd/interval_vector.h"
00043 #include "fcl/math/matrix_3f.h"
00044 
00045 namespace fcl
00046 {
00047 
00048 struct IMatrix3
00049 {
00050   IVector3 v_[3];
00051 
00052   IMatrix3();
00053   IMatrix3(FCL_REAL v);
00054   IMatrix3(const Matrix3f& m);
00055   IMatrix3(FCL_REAL m[3][3][2]);
00056   IMatrix3(FCL_REAL m[3][3]);
00057   IMatrix3(Interval m[3][3]);
00058   IMatrix3(const IVector3& v1, const IVector3& v2, const IVector3& v3);
00059 
00060   void setIdentity();
00061 
00062   IVector3 getColumn(size_t i) const;
00063   const IVector3& getRow(size_t i) const;
00064 
00065   Vec3f getColumnLow(size_t i) const;
00066   Vec3f getRowLow(size_t i) const;
00067 
00068   Vec3f getColumnHigh(size_t i) const;
00069   Vec3f getRowHigh(size_t i) const;
00070 
00071   Matrix3f getLow() const;
00072   Matrix3f getHigh() const;
00073 
00074   inline const Interval& operator () (size_t i, size_t j) const
00075   {
00076     return v_[i][j];
00077   }
00078 
00079   inline Interval& operator () (size_t i, size_t j)
00080   {
00081     return v_[i][j];
00082   }
00083 
00084   IMatrix3 operator + (const IMatrix3& m) const;
00085   IMatrix3& operator += (const IMatrix3& m);
00086 
00087   IMatrix3 operator - (const IMatrix3& m) const;
00088   IMatrix3& operator -= (const IMatrix3& m);
00089 
00090   IVector3 operator * (const Vec3f& v) const;
00091   IVector3 operator * (const IVector3& v) const;
00092   IMatrix3 operator * (const IMatrix3& m) const;
00093   IMatrix3 operator * (const Matrix3f& m) const;
00094 
00095   IMatrix3& operator *= (const IMatrix3& m);
00096   IMatrix3& operator *= (const Matrix3f& m);
00097 
00098 
00099   void print() const;
00100 };
00101 
00102 }
00103 
00104 #endif