xsmatrix3x3.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#ifndef XSMATRIX3X3_H
#define XSMATRIX3X3_H

#include "xsmatrix.h"

struct XsMatrix3x3;
#ifdef __cplusplus
extern "C"
{
#else
typedef struct XsMatrix3x3 XsMatrix3x3;
#endif

    XSTYPES_DLL_API void XsMatrix3x3_construct(XsMatrix3x3* thisPtr);
    XSTYPES_DLL_API void XsMatrix3x3_assign(
        XsMatrix3x3* thisPtr, const XsReal* src, XsSize srcStride);
    XSTYPES_DLL_API void XsMatrix3x3_destruct(XsMatrix3x3* thisPtr);
    XSTYPES_DLL_API void XsMatrix3x3_copy(
        XsMatrix* copy, XsMatrix3x3 const* src);

#ifdef __cplusplus
}  // extern "C"
#endif

#ifdef __cplusplus
/* This is allowed since the C standard says that no padding appears before the
   first member of a struct.
    Basically we're defining a union between a C++ inherited type and a C
   encapsulated type.
*/
struct XsMatrix3x3 : public XsMatrix
{
    XSCPPPROTECTED
#else
struct XsMatrix3x3
{
    /** The underlying XsMatrix */
    struct XsMatrix m_matrix;
#endif
    /** Fixed storage for the elements of the matrix */
    XsReal XSCCONST m_fixedData[9];

#ifdef __cplusplus
   public:
    //! \brief Constructs an XsMatrix3x3
    XsMatrix3x3() : XsMatrix(m_fixedData, 3, 3, 3, XSDF_FixedSize) {}
    //! \brief Constructs an XsMatrix3x3 from an \a other XsMatrix
    XsMatrix3x3(const XsMatrix& other)
        : XsMatrix(other, m_fixedData, 3, 3, 3, XSDF_FixedSize)
    {
    }

    //! \brief Constructs an XsMatrix3x3 from an \a other XsMatrix
    XsMatrix3x3(const XsMatrix3x3& other)
        : XsMatrix(other, m_fixedData, 3, 3, 3, XSDF_FixedSize)
    {
    }

    //! \brief Constructs an XsMatrix3x3 from a set of values
    XsMatrix3x3(
        XsReal r1c1, XsReal r1c2, XsReal r1c3, XsReal r2c1, XsReal r2c2,
        XsReal r2c3, XsReal r3c1, XsReal r3c2, XsReal r3c3)
        : XsMatrix(m_fixedData, 3, 3, 3, XSDF_FixedSize)
    {
        m_fixedData[0] = r1c1;
        m_fixedData[1] = r1c2;
        m_fixedData[2] = r1c3;
        m_fixedData[3] = r2c1;
        m_fixedData[4] = r2c2;
        m_fixedData[5] = r2c3;
        m_fixedData[6] = r3c1;
        m_fixedData[7] = r3c2;
        m_fixedData[8] = r3c3;
    }
//  using XsMatrix::operator=;
//  using XsMatrix::operator[];
#endif
};

#endif  // file guard