CGR_Rot::MatR_Manip Class Reference

#include <matvec3.h>

Inheritance diagram for CGR_Rot::MatR_Manip:

Collaboration diagram for CGR_Rot::MatR_Manip:

Public Member Functions
	MatR_Manip ()
void	Manipulate (Mat3x3 &m, const Vec3 &g) const
Public Member Functions inherited from Mat3x3_Manip
virtual void	Manipulate (Mat3x3 &m) const
virtual void	Manipulate (Mat3x3 &m, const doublereal d) const
virtual void	Manipulate (Mat3x3 &m, const Vec3 &v1, const Vec3 &v2) const
virtual	~Mat3x3_Manip (void)

Detailed Description

Definition at line 1684 of file matvec3.h.

Constructor & Destructor Documentation

CGR_Rot::MatR_Manip::MatR_Manip ( )

inline

Definition at line 1686 of file matvec3.h.

{}

Member Function Documentation

void CGR_Rot::MatR_Manip::Manipulate ( Mat3x3 &  m, const Vec3 &  g  ) const

inlinevirtual

Reimplemented from Mat3x3_Manip.

Definition at line 1690 of file matvec3.h.

References Vec3::Dot().

                                                          {
      doublereal d = (4./(4. + g.Dot()));
      
      /*
       m = Eye3;
       m += Mat3x3(g*d);
       */
      
      /* E' piu' efficiente se creo contemporaneamente I+d*g/\ */
      m = Mat3x3(1., g*d);
      
      /* Alla fine sommo il termine d/2*g/\g/\, che e' una matrice piena */
      m += Mat3x3(MatCrossCross, g, g*(d/2.));
   };

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The documentation for this class was generated from the following file:

• matvec3.h