/ *   
 
   *   P R O J E C T :   N y A R T o o l k i t C S 
 
   *   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
   *   T h i s   w o r k   i s   b a s e d   o n   t h e   o r i g i n a l   A R T o o l K i t   d e v e l o p e d   b y 
 
   *       H i r o k a z u   K a t o 
 
   *       M a r k   B i l l i n g h u r s t 
 
   *       H I T L a b ,   U n i v e r s i t y   o f   W a s h i n g t o n ,   S e a t t l e 
 
   *   h t t p : / / w w w . h i t l . w a s h i n g t o n . e d u / a r t o o l k i t / 
 
   * 
 
   *   T h e   N y A R T o o l k i t C S   i s   J a v a   e d i t i o n   A R T o o l K i t   c l a s s   l i b r a r y . 
 
   *   C o p y r i g h t   ( C ) 2 0 0 8 - 2 0 0 9   R y o   I i z u k a 
 
   * 
 
   *   T h i s   p r o g r a m   i s   f r e e   s o f t w a r e :   y o u   c a n   r e d i s t r i b u t e   i t   a n d / o r   m o d i f y 
 
   *   i t   u n d e r   t h e   t e r m s   o f   t h e   G N U   G e n e r a l   P u b l i c   L i c e n s e   a s   p u b l i s h e d   b y 
 
   *   t h e   F r e e   S o f t w a r e   F o u n d a t i o n ,   e i t h e r   v e r s i o n   3   o f   t h e   L i c e n s e ,   o r 
 
   *   ( a t   y o u r   o p t i o n )   a n y   l a t e r   v e r s i o n . 
 
   *   
 
   *   T h i s   p r o g r a m   i s   d i s t r i b u t e d   i n   t h e   h o p e   t h a t   i t   w i l l   b e   u s e f u l , 
 
   *   b u t   W I T H O U T   A N Y   W A R R A N T Y ;   w i t h o u t   e v e n   t h e   i m p l i e d   w a r r a n t y   o f 
 
   *   M E R C H A N T A B I L I T Y   o r   F I T N E S S   F O R   A   P A R T I C U L A R   P U R P O S E .     S e e   t h e 
 
   *   G N U   G e n e r a l   P u b l i c   L i c e n s e   f o r   m o r e   d e t a i l s . 
 
   * 
 
   *   Y o u   s h o u l d   h a v e   r e c e i v e d   a   c o p y   o f   t h e   G N U   G e n e r a l   P u b l i c   L i c e n s e 
 
   *   a l o n g   w i t h   t h i s   p r o g r a m .     I f   n o t ,   s e e   < h t t p : / / w w w . g n u . o r g / l i c e n s e s / > . 
 
   *   
 
   *   F o r   f u r t h e r   i n f o r m a t i o n   p l e a s e   c o n t a c t . 
 
   * 	 h t t p : / / n y a t l a . j p / n y a t o o l k i t / 
 
   * 	 < a i r m a i l ( a t ) e b o n y . p l a l a . o r . j p >   o r   < n y a t l a ( a t ) n y a t l a . j p > 
 
   *   
 
   * / 
 
 n a m e s p a c e   j p . n y a t l a . n y a r t o o l k i t . c s . c o r e 
 
 { 
 
 
 
 
 
 
 
 
 
 
 
 
 
         / * * 
 
           *   { @ l i n k   I N y A R T r a n s M a t } n0QRY000MOnYRLR0SQ0S0LR000g0Y00
 
           * / 
 
         p u b l i c   c l a s s   N y A R T r a n s M a t R e s u l t   :   N y A R D o u b l e M a t r i x 4 4 
 
         { 
 
                 / * * 
 
                   *   S0n0LRk01 ^g00LR0000W0_0K00ԏW0~0Y00
 
                   *   { @ l i n k   I N y A R T r a n s M a t # t r a n s M a t C o n t i n u e } peL0OD0~0Y00
 
                   * / 
 
                 p u b l i c   b o o l   h a s _ v a l u e   =   f a l s e ; 
 
                 / * * 
 
                   *   ,n$Ph0n0Z000:yY0000000$Pg0Y00{ @ l i n k   I N y A R T r a n s M a t } L0feW0~0Y00
 
                   *   000000n0asTo00[ň000T0h0k0puj00S0h0k0laW0f0O0`0U0D00
 
                   *   000K00o0QW0\(ug0Y00
 
                   *   { @ l i n k   # h a s _ v a l u e } L0t r u e n0Bfk0O(uSg0Y00
 
                   * / 
 
                 p u b l i c   d o u b l e   l a s t _ e r r o r ; 
 
                 / * * 
 
                   *   0000000g0Y00
 
                   *   Rg$P0-[W0_00000000\ObW0~0Y00
 
                   * / 
 
                 p u b l i c   N y A R T r a n s M a t R e s u l t ( ) 
 
                 { 
 
                         t h i s . m 3 0   =   t h i s . m 3 1   =   t h i s . m 3 2   =   0 ; 
 
                         t h i s . m 3 3   =   1 . 0 ; 
 
                 } 
 
                 / * * 
 
                   *   S0n0peo00s^LyRϑh0VLR0000W0f00000000n0000000feW0~0Y00
 
                   *   8^0000L0OF0S0h0o0B00~0[000
 
                   *   { @ l i n k   I N y A R T r a n s M a t # t r a n s M a t C o n t i n u e } peL0OD0~0Y00
 
                   *   @ p a r a m   i _ r o t 
 
                   *   -[Y00VLR
 
                   *   @ p a r a m   i _ t r a n s 
 
                   *   -[Y00s^LyRϑ
 
                   * / 
 
                 p u b l i c   v o i d   s e t V a l u e ( N y A R D o u b l e M a t r i x 3 3   i _ r o t ,   N y A R D o u b l e P o i n t 3 d   i _ t r a n s ,   d o u b l e   i _ e r r o r ) 
 
                 { 
 
                         t h i s . m 0 0   =   i _ r o t . m 0 0 ; 
 
                         t h i s . m 0 1   =   i _ r o t . m 0 1 ; 
 
                         t h i s . m 0 2   =   i _ r o t . m 0 2 ; 
 
                         t h i s . m 0 3   =   i _ t r a n s . x ; 
 
 
 
                         t h i s . m 1 0   =   i _ r o t . m 1 0 ; 
 
                         t h i s . m 1 1   =   i _ r o t . m 1 1 ; 
 
                         t h i s . m 1 2   =   i _ r o t . m 1 2 ; 
 
                         t h i s . m 1 3   =   i _ t r a n s . y ; 
 
 
 
                         t h i s . m 2 0   =   i _ r o t . m 2 0 ; 
 
                         t h i s . m 2 1   =   i _ r o t . m 2 1 ; 
 
                         t h i s . m 2 2   =   i _ r o t . m 2 2 ; 
 
                         t h i s . m 2 3   =   i _ t r a n s . z ; 
 
 
 
                         t h i s . m 3 0   =   t h i s . m 3 1   =   t h i s . m 3 2   =   0 ; 
 
                         t h i s . m 3 3   =   1 . 0 ; 
 
                         t h i s . h a s _ v a l u e   =   t r u e ; 
 
                         t h i s . l a s t _ e r r o r   =   i _ e r r o r ; 
 
                         r e t u r n ; 
 
                 } 
 
         } 
 
 } 
 
 