cxFrame3D.h

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.
                 
Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.
                 
CustusX is released under a BSD 3-Clause license.
                 
See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/

#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_*/