File content as of revision 2:dc7840a67f77:

#ifndef Matrix_h
#define Matrix_h

#include "stdlib.h"
#include "math.h"

/** Matrix class */
class Matrix
{
public:
    /** Constructors */
    Matrix();
    Matrix(int, int);
    /** Destructor */
    ~Matrix();
    /** Assignment */
    Matrix& operator=(const Matrix&);
    /** Cell data */
    float& operator()(int, int);
    /** Parameters */
    int rows, cols;
    float **data;
private:
    /** Memmory managment **/
    void allocate_memmory();
    void deallocate_memmory();
};

/** Math operators */
Matrix operator+(const Matrix&, const Matrix&);
Matrix operator-(const Matrix&, const Matrix&);
Matrix operator-(const Matrix&);
Matrix operator*(const Matrix&, const Matrix&);
Matrix operator*(float, const Matrix&);
Matrix operator*(const Matrix&, float);
Matrix operator/(const Matrix&, float);

/** Matriz algebra */
Matrix eye(int, int = 0);
Matrix zeros(int, int = 0);
Matrix transpose(const Matrix&);
Matrix inverse(const Matrix&);
float trace(const Matrix&);

/** Vector algebra **/
Matrix cross(const Matrix&, const Matrix&);
float norm(const Matrix&);

/** Orientation algebra **/
Matrix dcm2quat(const Matrix&);

#endif