1 files changed, 38 insertions, 0 deletions
diff --git a/meowpp/math/LinearTransformations.h b/meowpp/math/LinearTransformations.h
new file mode 100644
index 0000000..4878834
--- /dev/null
+++ b/meowpp/math/LinearTransformations.h
@@ -0,0 +1,38 @@
+#ifndef   math_LinearTransformations_H__
+#define   math_LinearTransformations_H__
+
+#include "LinearTransformation.h"
+
+#include <cstdlib>
+
+namespace meow{
+  template<class Scalar>
+  class Rotation3D: public LinearTransformation<Scalar>{
+    private:
+      Scalar _theta[3];
+      void calcMatrix();
+    public:
+      Rotation3D();
+      
+      void axisTheta(Matrix<Scalar> const& __axis, Scalar const& __theta);
+      
+      Scalar parameter(size_t __i) const;
+      Scalar parameter(size_t __i, Scalar const& __s);
+      
+      Matrix<Scalar> transformate(Matrix<Scalar> const& __x) const;
+      Matrix<Scalar> jacobian    (Matrix<Scalar> const& __x) const;
+      Matrix<Scalar> jacobian    (Matrix<Scalar> const& __x,
+                                  size_t                __i) const;
+      
+      Matrix<Scalar> invTransformate(Matrix<Scalar> const& __x) const;
+      Matrix<Scalar> invJacobian    (Matrix<Scalar> const& __x) const;
+      Matrix<Scalar> invJacobian    (Matrix<Scalar> const& __x,
+                                     size_t                __i) const;
+      
+      Matrix<Scalar> invMatrix() const;
+  };
+}
+
+#include "LinearTransformations.hpp"
+
+#endif // math_LinearTransformations_H__