[uLib Geometry]

non working version! + adds ProgrammableAccessor + renaming of some Image structures ...
2025-12-06 15:31:31 +01:00 · 2014-11-03 10:27:52 +00:00
commit 99e771a223
403 changed files with 61684 additions and 0 deletions
--- a/src/Math/Transform.h
+++ b/src/Math/Transform.h
@@ -0,0 +1,141 @@
+/*//////////////////////////////////////////////////////////////////////////////
+// CMT Cosmic Muon Tomography project //////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+  Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
+  All rights reserved
+
+  Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >
+
+  ------------------------------------------------------------------
+  This library is free software;  you  can  redistribute  it  and/or
+  modify it  under the  terms  of  the  GNU  Lesser  General  Public
+  License as published  by  the  Free  Software  Foundation;  either
+  version 3.0 of the License, or (at your option) any later version.
+
+  This library is  distributed in  the hope that it will  be useful,
+  but  WITHOUT ANY WARRANTY;  without  even  the implied warranty of
+  MERCHANTABILITY  or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of  the GNU Lesser General  Public
+  License along with this library.
+
+//////////////////////////////////////////////////////////////////////////////*/
+
+
+
+/* 
+ * Copyright (C) 2012  Andrea Rigoni Garola <andrea.rigoni@pd.infn.it>
+ * 
+ * This library is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2.1 of the
+ * License, or (at your option) any later version.
+ * 
+ * This library is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+ * 02110-1301 USA
+ * 
+ */
+
+
+#ifndef U_TRANSFORM_H
+#define U_TRANSFORM_H
+
+#include <Core/Macros.h>
+#include <Eigen/Geometry>
+
+
+namespace uLib {
+
+////////////////////////////////////////////////////////////////////////////////
+/////////  AFFINE TRANSFORM  WRAPPER  //////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+class AffineTransform {
+protected:
+    Eigen::Affine3f  m_T;
+    AffineTransform *m_Parent;
+public:
+    AffineTransform() :
+        m_T(Matrix4f::Identity()),
+        m_Parent(NULL)
+    {}
+
+    AffineTransform(AffineTransform *parent) :
+        m_T(Matrix4f::Identity()),
+        m_Parent(parent)
+    {}
+
+    AffineTransform(const AffineTransform &copy) :
+        m_T(copy.m_T),
+        m_Parent(copy.m_Parent)
+    {}
+
+    Eigen::Affine3f& GetTransform() { return m_T; }
+    uLibGetSetMacro(Parent,AffineTransform *)
+
+    inline void SetMatrix (Matrix4f &mat) { m_T.matrix() = mat; }
+    inline Matrix4f& GetMatrix () { return m_T.matrix(); }
+
+    Matrix4f GetWorldMatrix() const
+    {
+        if(!m_Parent) return m_T.matrix();
+        else return  m_Parent->GetWorldMatrix() * m_T.matrix(); // T = B * A //
+    }
+
+    inline void SetPosition(const Vector3f &v) { this->m_T.translation() = v; }
+
+    inline Vector3f GetPosition() const { return this->m_T.translation(); }
+
+    inline void SetRotation(const Matrix3f &m) { this->m_T.linear() = m; }
+
+    inline Matrix3f GetRotation() const { return this->m_T.rotation(); }
+
+    inline Vector3f GetOrientation(uint i0 = 0, uint i1 = 1, uint i2 = 2) const { return this->m_T.linear().eulerAngles(i0,i1,i2); }
+
+    inline void Translate(const Vector3f &v) { this->m_T.translate(v); }
+
+    inline void Scale(const Vector3f &v) { this->m_T.scale(v); }
+
+    inline Vector3f GetScale() const { return this->m_T.linear() * Vector3f(1,1,1); } // FIXXXXXXX
+
+
+    inline void Rotate(const Matrix3f &m) { this->m_T.rotate(m); }
+
+
+    inline void PreRotate(const Matrix3f &m) { this->m_T.prerotate(m); }
+
+    inline void QuaternionRotate(const Vector4f &q)
+    { this->m_T.rotate(Eigen::Quaternion<float>(q)); }
+
+    inline void EulerYZYRotate(const Vector3f &e) {
+        Matrix3f mat;
+        mat =     Eigen::AngleAxisf(e.x(), Vector3f::UnitY())
+                * Eigen::AngleAxisf(e.y(), Vector3f::UnitZ())
+                * Eigen::AngleAxisf(e.z(), Vector3f::UnitY());
+        m_T.rotate(mat);
+    }
+
+    inline void FlipAxes(int first, int second)
+    {
+        Matrix3f mat = Matrix3f::Identity();
+        mat.col(first).swap(mat.col(second));
+        m_T.rotate(mat);
+    }
+};
+
+
+
+}
+
+
+
+#endif//U_TRANSFORM_H