move Hat and Dyadic product to Matrix class

FreeCAD · Dec 4, 2016 · 3565d4e · 3565d4e
1 parent 6cde253
commit 3565d4e
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Showing 4 changed files with 83 additions and 47 deletions.
diff --git a/src/Base/Matrix.cpp b/src/Base/Matrix.cpp
@@ -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;
+}
diff --git a/src/Base/Matrix.h b/src/Base/Matrix.h
@@ -95,6 +95,12 @@ class BaseExport Matrix4D
   double determinant() const;
   /// Analyse the transformation
   std::string analyse(void) const;
+  /// Outer product (Dyadic product)
+  Matrix4D& Outer(const Vector3f& rV1, const Vector3f& rV2);
+  Matrix4D& Outer(const Vector3d& rV1, const Vector3d& rV2);
+  /// Hat operator (skew symmetric)
+  Matrix4D& Hat(const Vector3f& rV);
+  Matrix4D& Hat(const Vector3d& rV);
   //@}
 
   void getMatrix  (double dMtrx[16]) const;

diff --git a/src/Base/Vector3D.cpp b/src/Base/Vector3D.cpp
@@ -24,7 +24,7 @@
 #include "PreCompiled.h"
 #include "Tools.h"
 #include "Vector3D.h"
-#include "Matrix.h"
+
 using namespace Base;
 
 template <class _Precision>
@@ -192,44 +192,6 @@ Vector3<_Precision> Vector3<_Precision>::Cross(const Vector3<_Precision>& rcVct)
     return cVctRes;
 }
 
-template <class _Precision>
-Matrix4D Vector3<_Precision>::Outer(const Vector3<_Precision>& rcVct) const
-{
-    Matrix4D mat;
-    mat[0][0] = x * rcVct.x;
-    mat[0][1] = x * rcVct.y;
-    mat[0][2] = x * rcVct.z;
-
-    mat[1][0] = y * rcVct.x;
-    mat[1][1] = y * rcVct.y;
-    mat[1][2] = y * rcVct.z;
-
-    mat[2][0] = z * rcVct.x;
-    mat[2][1] = z * rcVct.y;
-    mat[2][2] = z * rcVct.z;
-
-    return mat;
-}
-
-template <class _Precision>
-Matrix4D Vector3<_Precision>::Hat(void) const
-{
-    Matrix4D mat;
-    mat[0][0] = 0.0;
-    mat[0][1] = -z;
-    mat[0][2] = y;
-
-    mat[1][0] = z;
-    mat[1][1] = 0.0;
-    mat[1][2] = -x;
-
-    mat[2][0] = -y;
-    mat[2][1] = x;
-    mat[2][2] = 0.0;
-
-    return mat;
-}
-
 template <class _Precision>
 bool Vector3<_Precision>::operator != (const Vector3<_Precision>& rcVct) const
 {

diff --git a/src/Base/Vector3D.h b/src/Base/Vector3D.h
@@ -73,10 +73,6 @@ struct float_traits<double> {
     static inline float_type maximum() { return DBL_MAX; }
 };
 
-class Matrix4D;
-//#include <Base/Matrix.h>
-
-
 /** The Vector Base class. */
 template <class _Precision>
 class Vector3
@@ -130,10 +126,6 @@ class Vector3
     Vector3 operator %  (const Vector3<_Precision>& rcVct) const;
     /// Cross product
     Vector3 Cross (const Vector3<_Precision>& rcVct) const;
-    /// Outer product
-    Matrix4D Outer(const Vector3<_Precision>& rcVct) const;
-    /// Hat operator (skew symmetric)
-    Matrix4D Hat(void) const;
 
     /// Comparing for inequality
     bool operator != (const Vector3<_Precision>& rcVct) const;