d2homogeneous.h

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#ifndef D2HOMOGENEOUS_H
#define D2HOMOGENEOUS_H


#include <point.h>

#include <print.h>


class d2homogeneous;

class d2homogeneous
{
public:

  double matrix[9];

  d2homogeneous();

  d2homogeneous( doublec * matrix_);

  void matrixMultiply
  ( 
    point3<double> & p2,
    point3<double> const & p
  ) const;

  void matrixMultiply
  ( 
    point2<double> & p2,
    point2<double> const & p
  ) const;

  void matrixMultiply( point2<double> & p ) const;


  void setTranslate(point2<double> const & p);

  void setRotate(doublec theta);

  void setIdentity();
  void setZero();

  void setRotateAboutPoint
  (
    doublec theta, 
    point2<double> const & p
  );

  d2homogeneous & operator *= (d2homogeneous const & w);

  void rowk(point3<double> & x, uintc k) const
    { uintc w=3*k; x.x=matrix[0+w]; x.y=matrix[1+w]; 
      x.z=matrix[2+w]; }

  void columnk(point3<double> & x, uintc k) const
    { x.x=matrix[0+k]; x.y=matrix[3+k]; x.z=matrix[6+k]; }

  operator string() const;
};

d2homogeneous & operator * 
(
  d2homogeneous & a, 
  d2homogeneous const & b
);




#endif