g2_rotation.h

Go to the documentation of this file.

/* $Id: g2_rotation.h 18278 2014-11-25 01:42:10Z ksimek $ */
/* =========================================================================== *
   |
   |  Copyright (c) 1994-2010 by Kobus Barnard (author)
   |
   |  Personal and educational use of this code is granted, provided that this
   |  header is kept intact, and that the authorship is not misrepresented, that
   |  its use is acknowledged in publications, and relevant papers are cited.
   |
   |  For other use contact the author (kobus AT cs DOT arizona DOT edu).
   |
   |  Please note that the code in this file has not necessarily been adequately
   |  tested. Naturally, there is no guarantee of performance, support, or fitness
   |  for any particular task. Nonetheless, I am interested in hearing about
   |  problems that you encounter.
   |
   |  Author:  Kyle Simek
 * =========================================================================== */

#ifndef KJB_G2_CPP_ROTATION_H
#define KJB_G2_CPP_ROTATION_H

#include <m_cpp/m_vector.h>

namespace kjb
{
class Matrix;

class Rotation_axis
{
public:
    Rotation_axis(const Vector& pt, const Vector& dir);

    Vector rotate(const Vector& pt, double angle) const;

    Matrix get_transformation_matrix(double a) const;
private:
    Vector axis_pt_;
    Vector axis_dir_;
}; // class Rotation_axis

} // namespace kjb

#endif