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/**********************************************************************
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Copyright (C) 1998-2001 by OpenEye Scientific Software, Inc.
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation version 2 of the License.
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This program 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
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GNU General Public License for more details.
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***********************************************************************/
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#ifndef OE_COORDTRANSFORM_INCLUDED
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#define OE_COORDTRANSFORM_INCLUDED
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#include "binary_io.h"
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using namespace OpenEye;
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**\brief An object for storing, manipulating and applying coordinate transformations.
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**The most basic way to setup a transformation is to use the member function Setup(float* xyz),
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**which requires you to supply a specific set of 4 coordinates from the initial reference frame
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**in the final reference frame. The function Setup(float *init_xyz, float* final_xyz, unsigned int N)
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**will set up a transformation given an arbitrary set of coordinates in the final and initial
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**reference frame. A rotation/translation or a translation/rotation can also be supplied,
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**see the various member functions begining with Setup.
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**\param Applying the transformation
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**The Transform(float *xyz, unsigned int N) member function applies the objects transform
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**to a set of coordinates.
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**The Invert() member function will reverses the current transformation such that it changes
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**what was originally the final reference frame into what was originally the initial reference frame.
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**A rotation/translation or translation/rotation cooresponding to the objects transformation
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**can be extracted, see the various member functions begining with Get. The operator+(const OECoordTrans& ct2)
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**and operator+=(const OECoordTrans& ct) are also defined for combining transformation.
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**\note \b IMPORTANT : This object can only handle transformations that can be described
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**with Euler angles (i.e., No inversions). Several member function will take rotation
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**matricies as input, however, it is assumed that these matricies only apply simple
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**rotations that can be described with Euler angles.
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double Angle(double sn, double cs);
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void ApplyTranslation(float *trans, float *xyz, unsigned int N) const;
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void ApplyEulerInvert(float *euler, float *xyz, unsigned int N) const;
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void ApplyEuler(float *euler, float *xyz, unsigned int N) const;
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void ApplyRmatrix(float *rmat, float *xyz, unsigned int N) const;
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void EulerToRmatrix(float *euler, float *rmat) const;
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//Constructor, destructor and copy constructor
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OECoordTrans(const OECoordTrans& cp);
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OECoordTrans& operator=(const OECoordTrans& cp);
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OECoordTrans& operator+=(const OECoordTrans& ct);
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OECoordTrans operator+(const OECoordTrans& ct2) const;
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//Read/Write to binary array/stream
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unsigned int WriteBinary(char* ccc);
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unsigned int ReadBinary(char* ccc);
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void WriteBinary(ostream& ostr);
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void ReadBinary(istream& istr);
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bool Setup(float *xyz);
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void Setup(float *init_xyz, float *final_xyz, unsigned int N);
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void SetupEulerTranslation(float *euler, float *trans);
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void SetupTranslationEuler(float *trans, float *euler);
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void SetupRmatrixTranslation(float *rmat, float *trans);
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void SetupTranslationRmatrix(float *trans, float *rmat);
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void SetupRmatrixTranslation(Matrix3x3& rmat, Vector& tvec);
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void SetupTranslationRmatrix(Vector& tvec, Matrix3x3& rmat);
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void GetEulerTranslation(float *euler, float *trans) const;
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void GetTranslationEuler(float *trans, float *euler) const;
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void GetRmatrixTranslation(float *rmat, float *trans) const;
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void GetTranslationRmatrix(float *trans, float *rmat) const;
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void GetRmatrixTranslation(Matrix3x3& rmat, Vector& tvec);
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void GetTranslationRmatrix(Vector& tvec, Matrix3x3& rmat);
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//Transformation functions
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void Transform(float *xyz, unsigned int N) const;
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**\fn OECoordTrans::_trans()
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**\brief Stores the translation part of the transformation. This
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**translation is applied after the rotation.
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**\fn OECoordTrans::_euler()
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**\brief Stores the rotation part of the transformation in euler angles.
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**This rotation is applied before the translation. The elements of
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**the array are : euler[0], a rotation about the z-axis; euler[1],
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**a rotation about the x-axis; euler[2], a rotation about the z-axis.
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**The rotations are applied in the order given.
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**\fn OECoordTrans::_rmat()
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**\brief Stores the rotation part of the transformation as a
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**rotation matrix. This rotation is applied before the translation.
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**_rmat[3*i+j] hold the matrix element in the i'th row and j'th column.
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} //End OpenEye namespace
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ctransform.h
