cxFrame3D.h

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

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modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, 
   this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, 
   this list of conditions and the following disclaimer in the documentation 
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors 
   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
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=========================================================================*/

#ifndef CXFRAME3D_H_
#define CXFRAME3D_H_

#include "cxResourceExport.h"
#include "cxPrecompiledHeader.h"

#include "cxTransform3D.h"

// --------------------------------------------------------
namespace cx
{

class cxResource_EXPORT DecomposedTransform3D
{
public:
        DecomposedTransform3D();
        DecomposedTransform3D(Transform3D m);
        void reset(Transform3D m); 
        void setAngles(Vector3D xyz);
        void setPosition(Vector3D pos);
        Vector3D getAngles() const;
        Vector3D getPosition() const;
        Transform3D getMatrix() const;
private:
        Vector3D mAngle; 
        Vector3D mPos; 
        Transform3D m_R; 
};

class cxResource_EXPORT Frame3D
{
public:
        static Frame3D create(const Transform3D& transform);
        Transform3D transform() const;
        Vector3D rotationAxis() const;
        void setRotationAxis(const Vector3D& k);
        void put(std::ostream& s) const;
        void test();

        boost::array<double, 6> getCompactAxisAngleRep() const;
        static Frame3D fromCompactAxisAngleRep(const boost::array<double, 6>& rep);

        Vector3D getEulerXYZ() const;
        void setEulerXYZ(const Vector3D& xyz);

        Frame3D();
        virtual ~Frame3D();

        Eigen::AngleAxisd mAngleAxis; 
        Vector3D mPos; 

private:
};

cxResource_EXPORT std::ostream& operator<<(std::ostream& s, const Frame3D& t);

} // namespace cx
// --------------------------------------------------------

#endif /*CXFRAME3D_H_*/