/usr/include/fcl/ccd/interval_matrix.h is in libfcl-dev 0.3.0-1+b1.
This file is owned by root:root, with mode 0o644.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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/** \author Jia Pan */
#ifndef FCL_CCD_INTERVAL_MATRIX_H
#define FCL_CCD_INTERVAL_MATRIX_H
#include "fcl/ccd/interval.h"
#include "fcl/ccd/interval_vector.h"
#include "fcl/math/matrix_3f.h"
namespace fcl
{
struct IMatrix3
{
IVector3 v_[3];
IMatrix3();
IMatrix3(FCL_REAL v);
IMatrix3(const Matrix3f& m);
IMatrix3(FCL_REAL m[3][3][2]);
IMatrix3(FCL_REAL m[3][3]);
IMatrix3(Interval m[3][3]);
IMatrix3(const IVector3& v1, const IVector3& v2, const IVector3& v3);
void setIdentity();
IVector3 getColumn(size_t i) const;
const IVector3& getRow(size_t i) const;
Vec3f getColumnLow(size_t i) const;
Vec3f getRowLow(size_t i) const;
Vec3f getColumnHigh(size_t i) const;
Vec3f getRowHigh(size_t i) const;
Matrix3f getLow() const;
Matrix3f getHigh() const;
inline const Interval& operator () (size_t i, size_t j) const
{
return v_[i][j];
}
inline Interval& operator () (size_t i, size_t j)
{
return v_[i][j];
}
IMatrix3 operator + (const IMatrix3& m) const;
IMatrix3& operator += (const IMatrix3& m);
IMatrix3 operator - (const IMatrix3& m) const;
IMatrix3& operator -= (const IMatrix3& m);
IVector3 operator * (const Vec3f& v) const;
IVector3 operator * (const IVector3& v) const;
IMatrix3 operator * (const IMatrix3& m) const;
IMatrix3 operator * (const Matrix3f& m) const;
IMatrix3& operator *= (const IMatrix3& m);
IMatrix3& operator *= (const Matrix3f& m);
IMatrix3& rotationConstrain();
void print() const;
};
IMatrix3 rotationConstrain(const IMatrix3& m);
}
#endif
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