/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#include "xsmatrix3x3.h"
#include <string.h>

//lint -e641 conversion from enum to int should not be a problem

/*! \class XsMatrix3x3
	\brief A class that represents a fixed size (3x3) matrix
*/	

/*! \addtogroup cinterface C Interface
	@{
*/

/*! \relates XsMatrix3x3 \brief Init the %XsMatrix3x3 */
void XsMatrix3x3_construct(XsMatrix3x3* thisPtr)
{
	XsMatrix_ref(&thisPtr->m_matrix, 3, 3, 3, (XsReal*) thisPtr->m_fixedData, XSDF_FixedSize);
}

/*! \relates XsMatrix3x3 \brief Init the %XsMatrix3x3 and copy the data from \a src into the matrix if \a src is not null */
void XsMatrix3x3_assign(XsMatrix3x3* thisPtr, const XsReal* src, XsSize srcStride)
{
	XsSize r, c;

	if (src)
	{
		if (srcStride == 0 || srcStride == 3)
			memcpy(thisPtr->m_matrix.m_data, src, 3*3*sizeof(XsReal));
		else
		{
			for (r = 0; r < 3; ++r)
				for (c = 0; c < 3; ++c)
					thisPtr->m_matrix.m_data[r*3+c] = src[r*srcStride + c];
		}
	}
}

/*! \relates XsMatrix3x3 \brief Frees the Matrix3x3 */
void XsMatrix3x3_destruct(XsMatrix3x3* thisPtr)
{
	// don't do anything, no memory needs to be freed, which is what  XsMatrix_destruct will figure out
	assert(thisPtr->m_matrix.m_flags & XSDF_FixedSize);
	(void) thisPtr;
	//XsMatrix_destruct(&thisPtr->m_matrix);
}

/*! \relates XsMatrix3x3 \brief Copy the contents of the %XsMatrix3x3 to \a copy */
void XsMatrix3x3_copy(XsMatrix* copy, XsMatrix3x3 const* src)
{
	XsMatrix_copy(copy, &src->m_matrix);
}

/*! @} */
