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Lib/Include/CML/mathlib/matrix_concat.h

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+/* -*- C++ -*- ------------------------------------------------------------
+ 
+Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
+
+The Configurable Math Library (CML) is distributed under the terms of the
+Boost Software License, v1.0 (see cml/LICENSE for details).
+
+ *-----------------------------------------------------------------------*/
+/** @file
+ *  @brief
+ */
+
+#ifndef matrix_concat_h
+#define matrix_concat_h
+
+#include <cml/matrix/matrix_expr.h>
+
+/* This will all most likely be abstracted away in a future version of the
+ * CML. For now, this file provides support for functions that need to
+ * concatenate transformation matrices in a basis-independent manner.
+ *
+ * @todo: The 2x2 and 3x3 versions of these functions are currently in
+ * matrix_rotation.h. They should be moved here.
+ */
+
+namespace cml {
+namespace detail {
+
+/** A fixed-size temporary 4x4 matrix */
+#define MAT_TEMP_4X4 matrix<         \
+    typename et::ScalarPromote<      \
+        typename MatT_1::value_type, \
+        typename MatT_2::value_type  \
+    >::type,                         \
+    fixed<4,4>,                      \
+    typename MatT_1::basis_orient,   \
+    typename MatT_1::layout          \
+>
+
+template < class MatT_1, class MatT_2 > MAT_TEMP_4X4
+matrix_concat_transforms_4x4(const MatT_1& m1, const MatT_2& m2, row_basis) {
+    return m1*m2;
+}
+
+/** Concatenate two 3D col-basis rotation matrices in the order m1->m2 */
+template < class MatT_1, class MatT_2 > MAT_TEMP_4X4
+matrix_concat_transforms_4x4(const MatT_1& m1, const MatT_2& m2, col_basis) {
+    return m2*m1;
+}
+
+/** Concatenate two 3D rotation matrices in the order m1->m2 */
+template < class MatT_1, class MatT_2 > MAT_TEMP_4X4
+matrix_concat_transforms_4x4(const MatT_1& m1, const MatT_2& m2) {
+    return matrix_concat_transforms_4x4(m1,m2,typename MatT_1::basis_orient());
+}
+
+#undef MAT_TEMP_4x4
+
+} // namespace detail
+} // namespace cml
+
+#endif