// -----------------------------------------------------------------------------
// *********************************** HtmFunctionsC ***************************
// -----------------------------------------------------------------------------
//
// File Name   : HtmFunctionsC.hh
// Author      : Paris Lyritis
// Last Change : 20/11/1997
// Synopsis    : The HtmFunctionsC contains functions that return an HomTransMatC
// -----------------------------------------------------------------------------
//
// Modifications :

#ifndef HTMFUNCTIONS_HH
#define HTMFUNCTIONS_HH

#include "amma/HomTransMatC.hh"

class HtmFunctionsC
{

public:

HomTransMatC Tx(RealT);
// Returns an HomTransMatC for rotations about the x axis. 
// Takes a RealT which is the angle of rotation in degrees.        

HomTransMatC Ty(RealT);
// Same as before for rotations about y. 

HomTransMatC Tz(RealT);
// Same as before for rotations about y. 
  
HomTransMatC Td(RealT, RealT, RealT);
// Returns the HomTransMatC along x,y and z axes. Takes three RealT which are the  
// translations along x, y and z accordingly                      

HomTransMatC Tr(RealT, RealT, RealT, RealT);
// Returns the HomTransMatC for rotations about an arbitary axis
// The axis is defined by the vector given with the first three RealT
// The fourth RealT is the angle of rotation in degrees.
// The vector is NORMALISED in the routine

HomTransMatC Tu(RealT, RealT, RealT, RealT);
// The same as before, only that here the vector is already assumed to be the
// unit vector of the desired axis of rotation.

HomTransMatC Trot( Vector3dC &);
// The given vector represents an axis and a theta (degrees)

HomTransMatC Trpy(RealT r, RealT p, RealT y);
// This is the transformation matrix for a roll-pitch-yaw (rpy) rotation.
// The rpy rotation consists of:
// 1. A rotation of r degrees about Z followed by
// 2. A rotation of p degrees about Y followed by
// 3. A rotation of y degrees about Z.

};

#endif