1 | // %flair:license{ |
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2 | // This file is part of the Flair framework distributed under the |
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3 | // CECILL-C License, Version 1.0. |
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4 | // %flair:license} |
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5 | /*! |
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6 | * \file OneAxisRotation.h |
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7 | * \brief Class defining a rotation around one axis |
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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9 | * \date 2013/04/17 |
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10 | * \version 4.0 |
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11 | */ |
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12 | |
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13 | #ifndef ONEAXISROTATION_H |
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14 | #define ONEAXISROTATION_H |
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15 | |
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16 | #include <GroupBox.h> |
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17 | #include <Vector3D.h> |
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18 | |
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19 | class OneAxisRotation_impl; |
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20 | |
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21 | namespace flair { |
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22 | namespace gui { |
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23 | class LayoutPosition; |
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24 | } |
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25 | |
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26 | namespace core { |
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27 | class Euler; |
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28 | class Quaternion; |
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29 | class RotationMatrix; |
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30 | |
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31 | /*! \class OneAxisRotation |
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32 | * |
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33 | * \brief Class defining a rotation around one axis |
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34 | * |
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35 | * Axe and value of the rotation are placed in a GroupBox on ground station. |
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36 | * |
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37 | */ |
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38 | class OneAxisRotation : public gui::GroupBox { |
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39 | public: |
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40 | /*! |
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41 | \enum RotationType_t |
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42 | \brief rotation type |
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43 | */ |
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44 | enum RotationType_t { |
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45 | PreRotation,//rotation |
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46 | PostRotation//frame change |
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47 | }; |
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48 | /*! |
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49 | * \brief Constructor |
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50 | * |
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51 | * Construct a OneAxisRotation at given position. |
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52 | * |
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53 | * \param position position to place the GroupBox |
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54 | * \param name name |
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55 | */ |
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56 | OneAxisRotation(const gui::LayoutPosition *position, std::string name,RotationType_t rotationType); |
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57 | |
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58 | /*! |
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59 | * \brief Destructor |
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60 | * |
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61 | */ |
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62 | ~OneAxisRotation(); |
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63 | |
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64 | /*! |
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65 | * \brief Compute rotation |
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66 | * |
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67 | * \param vector Vector3Df to rotate |
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68 | */ |
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69 | template <typename T> void ComputeRotation(core::Vector3D<T> &vector) const; |
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70 | |
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71 | /*! |
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72 | * \brief Compute rotation |
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73 | * |
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74 | * \param euler Euler angle to rotate |
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75 | */ |
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76 | void ComputeRotation(core::Euler &euler) const; |
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77 | |
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78 | /*! |
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79 | * \brief Compute rotation |
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80 | * |
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81 | * \param quaternion Quaternion to rotate |
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82 | */ |
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83 | void ComputeRotation(core::Quaternion &quaternion) const; |
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84 | |
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85 | /*! |
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86 | * \brief Compute rotation |
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87 | * |
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88 | * \param matrix RotationMatrix to rotate |
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89 | */ |
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90 | void ComputeRotation(core::RotationMatrix &matrix) const; |
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91 | |
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92 | /*! |
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93 | * \brief Get angle |
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94 | * |
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95 | * \return angle in radians |
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96 | */ |
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97 | float GetAngle() const; |
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98 | int GetAxis() const; |
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99 | |
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100 | private: |
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101 | const class OneAxisRotation_impl *pimpl_; |
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102 | }; |
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103 | |
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104 | } // end namespace core |
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105 | } // end namespace flair |
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106 | |
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107 | #endif // ONEAXISROTATION_H |
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