module.exports = JacobianElement;

var Vec3 = require('./Vec3');

/**
 * An element containing 6 entries, 3 spatial and 3 rotational degrees of freedom.
 * @class JacobianElement
 * @constructor
 */
function JacobianElement(){

    /**
     * @property {Vec3} spatial
     */
    this.spatial = new Vec3();

    /**
     * @property {Vec3} rotational
     */
    this.rotational = new Vec3();
}

/**
 * Multiply with other JacobianElement
 * @method multiplyElement
 * @param  {JacobianElement} element
 * @return {Number}
 */
JacobianElement.prototype.multiplyElement = function(element){
    return element.spatial.dot(this.spatial) + element.rotational.dot(this.rotational);
};

/**
 * Multiply with two vectors
 * @method multiplyVectors
 * @param  {Vec3} spatial
 * @param  {Vec3} rotational
 * @return {Number}
 */
JacobianElement.prototype.multiplyVectors = function(spatial,rotational){
    return spatial.dot(this.spatial) + rotational.dot(this.rotational);
};