Matrix4.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef MATRIX4_HH
#define MATRIX4_HH

#include <iostream>
#include <assert.h>

#include "math/Vector3.hh"
#include "math/Matrix3.hh"

namespace gazebo
{
    namespace math
  {
  
    class Matrix4
    {
      public: Matrix4();

      public: Matrix4(const Matrix4 &m);

      public: Matrix4(double _v00, double _v01, double _v02, double _v03,
                      double _v10, double _v11, double _v12, double _v13,
                      double _v20, double _v21, double _v22, double _v23,
                      double _v30, double _v31, double _v32, double _v33);

      public: virtual ~Matrix4();

      public: void Set(double _v00, double _v01, double _v02, double _v03,
                       double _v10, double _v11, double _v12, double _v13,
                       double _v20, double _v21, double _v22, double _v23,
                       double _v30, double _v31, double _v32, double _v33);


 
      public: void SetTranslate(const Vector3 &_t);

      public: void SetScale(const Vector3 &_s);
 
      public: bool IsAffine() const;

      public: Vector3 TransformAffine( const Vector3 &_v ) const;
 
      public: const Matrix4 &operator=( const Matrix4 &_mat );

      public: const Matrix4 & operator=( const Matrix3 &_mat );
 
      public: Matrix4 operator*(const Matrix4 &_mat) const;

      public: Matrix4 operator*(const Matrix3 &_mat) const;


      public: Vector3 operator*(const Vector3 &_vec) const;

      public: inline double *operator [] (size_t _row) 
              {
                assert( _row < 4 );
                return this->m[_row];
              }

       public: inline const double *operator [] (size_t _row) const
              {
                assert( _row < 4 );
                return this->m[_row];
              }

      public: friend std::ostream &operator<<( std::ostream &_out, 
                                               const gazebo::math::Matrix4 &_m )
            {
              for (int i=0; i < 4; i++)
              {
                for (int j=0; j < 4; j++)
                {
                  _out << _m.m[i][j] << " ";
                }
                _out << "\n";
              }
  
              return _out;
            }
 
      public: static const Matrix4 IDENTITY;

      public: static const Matrix4 ZERO;
  
      protected: double m[4][4];
    };
  }
}
#endif