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https://github.com/OpenCMT/uLib.git
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153 lines
4.8 KiB
C++
153 lines
4.8 KiB
C++
/*//////////////////////////////////////////////////////////////////////////////
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// CMT Cosmic Muon Tomography project //////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
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All rights reserved
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Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >
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------------------------------------------------------------------
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 3.0 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library.
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//////////////////////////////////////////////////////////////////////////////*/
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/*
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* Copyright (C) 2012 Andrea Rigoni Garola <andrea.rigoni@pd.infn.it>
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*
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* This library is free software; you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation; either version 2.1 of the
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* License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
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* 02110-1301 USA
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*
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*/
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#ifndef U_TRANSFORM_H
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#define U_TRANSFORM_H
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#include <Eigen/Geometry>
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namespace uLib {
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////////////////////////////////////////////////////////////////////////////////
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///////// AFFINE TRANSFORM WRAPPER //////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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class AffineTransform {
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protected:
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Eigen::Affine3f m_T;
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AffineTransform *m_Parent;
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public:
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AffineTransform() :
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m_T(Matrix4f::Identity()),
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m_Parent(NULL)
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{}
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AffineTransform(AffineTransform *parent) :
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m_T(Matrix4f::Identity()),
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m_Parent(parent)
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{}
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AffineTransform(const AffineTransform ©) :
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m_T(copy.m_T),
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m_Parent(copy.m_Parent)
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{}
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Eigen::Affine3f& GetTransform() { return m_T; }
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inline AffineTransform *GetParent() const { return this->m_Parent; }
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inline void SetParent(AffineTransform *name) { this->m_Parent = name; }
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inline void SetMatrix (Matrix4f &mat) { m_T.matrix() = mat; }
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inline Matrix4f& GetMatrix () { return m_T.matrix(); }
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Matrix4f GetWorldMatrix() const
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{
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if(!m_Parent) return m_T.matrix();
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else return m_Parent->GetWorldMatrix() * m_T.matrix(); // T = B * A //
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}
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inline void SetPosition(const Vector3f &v) { this->m_T.translation() = v; }
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inline Vector3f GetPosition() const { return this->m_T.translation(); }
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inline void SetRotation(const Matrix3f &m) { this->m_T.linear() = m; }
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inline Matrix3f GetRotation() const { return this->m_T.rotation(); }
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inline void Translate(const Vector3f &v) { this->m_T.translate(v); }
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inline void Scale(const Vector3f &v) { this->m_T.scale(v); }
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inline Vector3f GetScale() const { return this->m_T.linear() * Vector3f(1,1,1); } // FIXXXXXXX
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inline void Rotate(const Matrix3f &m) { this->m_T.rotate(m); }
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inline void Rotate(const float angle, Vector3f axis)
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{
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axis.normalize(); // prehaps not necessary ( see eigens )
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Eigen::AngleAxisf ax(angle,axis);
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this->m_T.rotate(Eigen::Quaternion<float>(ax));
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}
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inline void Rotate(const Vector3f euler_axis) {
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float angle = euler_axis.norm();
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Rotate(angle,euler_axis);
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}
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inline void PreRotate(const Matrix3f &m) { this->m_T.prerotate(m); }
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inline void QuaternionRotate(const Vector4f &q)
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{ this->m_T.rotate(Eigen::Quaternion<float>(q)); }
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inline void EulerYZYRotate(const Vector3f &e) {
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Matrix3f mat;
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mat = Eigen::AngleAxisf(e.x(), Vector3f::UnitY())
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* Eigen::AngleAxisf(e.y(), Vector3f::UnitZ())
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* Eigen::AngleAxisf(e.z(), Vector3f::UnitY());
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m_T.rotate(mat);
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}
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inline void FlipAxes(int first, int second)
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{
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Matrix3f mat = Matrix3f::Identity();
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mat.col(first).swap(mat.col(second));
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m_T.rotate(mat);
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}
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};
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}
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#endif//U_TRANSFORM_H
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