Add helpers based on Slice: row(), col(), xy()

matrix/Dcm.hpp

@@ -166,9 +166,9 @@ public:
     void renormalize()
     {
         /* renormalize rows */
-        for (size_t row = 0; row < 3; row++) {
-            matrix::Vector3f rvec(this->_data[row]);
-            this->setRow(row, rvec.normalized());
+        for (size_t r = 0; r < 3; r++) {
+            matrix::Vector3<Type> rvec(Matrix<Type,1,3>(this->Matrix<Type,3,3>::row(r)).transpose());
+            this->Matrix<Type,3,3>::row(r) = rvec.normalized();
         }
     }
 };

matrix/Matrix.hpp

@@ -381,20 +381,35 @@ public:
         return Slice<Type, P, Q, M, N>(x0, y0, this);
     }
 
-    void setRow(size_t i, const Matrix<Type, N, 1> &row)
+    const Slice<Type, 1, N, M, N> row(size_t i) const
     {
-        Matrix<Type, M, N> &self = *this;
-        for (size_t j = 0; j < N; j++) {
-            self(i, j) = row(j, 0);
-        }
+        return slice<1, N>(i,0);
     }
 
-    void setCol(size_t j, const Matrix<Type, M, 1> &col)
+    Slice<Type, 1, N, M, N> row(size_t i)
     {
-        Matrix<Type, M, N> &self = *this;
-        for (size_t i = 0; i < M; i++) {
-            self(i, j) = col(i, 0);
-        }
+        return slice<1, N>(i,0);
+    }
+
+    const Slice<Type, M, 1, M, N> col(size_t j) const
+    {
+        return slice<M, 1>(0,j);
+    }
+
+    Slice<Type, M, 1, M, N> col(size_t j)
+    {
+        return slice<M, 1>(0,j);
+    }
+
+    void setRow(size_t i, const Matrix<Type, N, 1> &row_in)
+    {
+        slice<1,N>(i,0) = row_in.transpose();
+    }
+
+
+    void setCol(size_t j, const Matrix<Type, M, 1> &column)
+    {
+        slice<M,1>(0,j) = column;
     }
 
     void setZero()

matrix/Vector3.hpp

@@ -109,6 +109,16 @@ public:
         return unit();
     }
 
+    const Slice<Type, 2, 1, 3, 1> xy() const
+    {
+        return Slice<Type, 2, 1, 3, 1>(0, 0, this);
+    }
+
+    Slice<Type, 2, 1, 3, 1> xy()
+    {
+        return Slice<Type, 2, 1, 3, 1>(0, 0, this);
+    }
+
 
     Dcm<Type> hat() const {    // inverse to Dcm.vee() operation
         const Vector3 &v(*this);