t3dRotationVector.hpp

/* $Id$ */

#ifndef GEOM_T3D_ROTATIONVECTOR_HPP
#define GEOM_T3D_ROTATIONVECTOR_HPP

#include <iostream>

#include "jmath/jblas.hpp"

#include "geom/t3d.hpp"

namespace jafar {
  namespace geom {

    class T3DRotationVector  : public T3D {
      
    public:

      T3DRotationVector(bool hasCov_=false);
      T3DRotationVector(const jblas::vec& x_, bool hasCov_=false);
      T3DRotationVector(const jblas::vec& x_, const jblas::sym_mat& xCov_);
      T3DRotationVector(const T3DRotationVector& t_);

      T3DRotationVector& operator=(const T3DRotationVector& t_);

      ~T3DRotationVector();

      Type type() const {return ROTATION_VECTOR;}

    protected:

      void updateM() const;
      void updateX();

      friend class T3D;

    };

  } // namespace geom
} // namespace jafar

#endif // GEOM_T3D_ROTATIONVECTOR_HPP