<commit_before>/*
** Author(s):
**  - <NAME>
**  - <NAME>
**  - <NAME>
**
** Copyright (C) 2011 Aldebaran Robotics
*/

#pragma once

#ifndef _LIB_ALMATH_ALMATH_ALTRANSFORM_H_
#define _LIB_ALMATH_ALMATH_ALTRANSFORM_H_

#include <vector>

namespace AL {
  namespace Math {

    /// <summary>
    /// Create and play with a Transform.
    ///
    /// A Position3D is just defined by x, y and z.
    /// </summary>
    /// <A HREF="http://en.wikipedia.org/wiki/Transformation_matrix">more information</A>
    /// \ingroup Types
    struct Transform {
      float r1_c1, r1_c2, r1_c3, r1_c4;
      float r2_c1, r2_c2, r2_c3, r2_c4;
      float r3_c1, r3_c2, r3_c3, r3_c4;

      /**
      * DEFAULT CONSTRUCTOR: create an identity matrix
      * (null Transform does not exist)
      */
      */
      Transform(): r1_c1(1.0f), r1_c2(0.0f), r1_c3(0.0f), r1_c4(0.0f),
        r2_c1(0.0f), r2_c2(1.0f), r2_c3(0.0f), r2_c4(0.0f),
        r3_c1(0.0f), r3_c2(0.0f), r3_c3(1.0f), r3_c4(0.0f) {}
<commit_msg>ALMATH : sc fix on my branch<commit_after>/*
** Author(s):
**  - <NAME>
**  - <NAME>
**  - <NAME>
**
** Copyright (C) 2011 Aldebaran Robotics
*/

#pragma once

#ifndef _LIB_ALMATH_ALMATH_ALTRANSFORM_H_
#define _LIB_ALMATH_ALMATH_ALTRANSFORM_H_

#include <vector>

namespace AL {
  namespace Math {

    /// <summary>
    /// Create and play with a Transform.
    ///
    /// A Position3D is just defined by x, y and z.
    /// </summary>
    /// <A HREF="http://en.wikipedia.org/wiki/Transformation_matrix">more information</A>
    /// \ingroup Types
    struct Transform {
      float r1_c1, r1_c2, r1_c3, r1_c4;
      float r2_c1, r2_c2, r2_c3, r2_c4;
      float r3_c1, r3_c2, r3_c3, r3_c4;

      /**
      * DEFAULT CONSTRUCTOR: create an identity matrix
      * (null Transform does not exist)
      */
      Transform(): r1_c1(1.0f), r1_c2(0.0f), r1_c3(0.0f), r1_c4(0.0f),
        r2_c1(0.0f), r2_c2(1.0f), r2_c3(0.0f), r2_c4(0.0f),
        r3_c1(0.0f), r3_c2(0.0f), r3_c3(1.0f), r3_c4(0.0f) {}

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