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move Hat and Dyadic product to Matrix class

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This commit is contained in:
wmayer
2016-12-04 17:05:58 +01:00
parent 17d6d739e6
commit bb81365cb6
4 changed files with 83 additions and 47 deletions
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76
src/Base/Matrix.cpp
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@@ -871,3 +871,79 @@ std::string Matrix4D::analyse(void) const
}
return text;
}
Matrix4D& Matrix4D::Outer(const Vector3f& rV1, const Vector3f& rV2)
{
setToUnity();
dMtrx4D[0][0] = rV1.x * rV2.x;
dMtrx4D[0][1] = rV1.x * rV2.y;
dMtrx4D[0][2] = rV1.x * rV2.z;
dMtrx4D[1][0] = rV1.y * rV2.x;
dMtrx4D[1][1] = rV1.y * rV2.y;
dMtrx4D[1][2] = rV1.y * rV2.z;
dMtrx4D[2][0] = rV1.z * rV2.x;
dMtrx4D[2][1] = rV1.z * rV2.y;
dMtrx4D[2][2] = rV1.z * rV2.z;
return *this;
}
Matrix4D& Matrix4D::Outer(const Vector3d& rV1, const Vector3d& rV2)
{
setToUnity();
dMtrx4D[0][0] = rV1.x * rV2.x;
dMtrx4D[0][1] = rV1.x * rV2.y;
dMtrx4D[0][2] = rV1.x * rV2.z;
dMtrx4D[1][0] = rV1.y * rV2.x;
dMtrx4D[1][1] = rV1.y * rV2.y;
dMtrx4D[1][2] = rV1.y * rV2.z;
dMtrx4D[2][0] = rV1.z * rV2.x;
dMtrx4D[2][1] = rV1.z * rV2.y;
dMtrx4D[2][2] = rV1.z * rV2.z;
return *this;
}
Matrix4D& Matrix4D::Hat(const Vector3f& rV)
{
setToUnity();
dMtrx4D[0][0] = 0.0;
dMtrx4D[0][1] = -rV.z;
dMtrx4D[0][2] = rV.y;
dMtrx4D[1][0] = rV.z;
dMtrx4D[1][1] = 0.0;
dMtrx4D[1][2] = -rV.x;
dMtrx4D[2][0] = -rV.y;
dMtrx4D[2][1] = rV.x;
dMtrx4D[2][2] = 0.0;
return *this;
}
Matrix4D& Matrix4D::Hat(const Vector3d& rV)
{
setToUnity();
dMtrx4D[0][0] = 0.0;
dMtrx4D[0][1] = -rV.z;
dMtrx4D[0][2] = rV.y;
dMtrx4D[1][0] = rV.z;
dMtrx4D[1][1] = 0.0;
dMtrx4D[1][2] = -rV.x;
dMtrx4D[2][0] = -rV.y;
dMtrx4D[2][1] = rV.x;
dMtrx4D[2][2] = 0.0;
return *this;
}