vctFrame4x4.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
 
  Author(s):    Anton Deguet
  Created on:   2007-09-13
 
  (C) Copyright 2007-2012 Johns Hopkins University (JHU), All Rights
  Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 
#pragma once
#ifndef _vctFrame4x4_h
#define _vctFrame4x4_h

 
#include <cisstVector/vctFixedSizeMatrix.h>
#include <cisstVector/vctFrame4x4Base.h>
#include <cisstVector/vctExport.h>

template <class _elementType, bool _rowMajor>
class vctFrame4x4:
    public vctFrame4x4Base<vctFixedSizeMatrix<_elementType, 4, 4, _rowMajor> >
{
public:
    /* define most types from vctContainerTraits */
    VCT_CONTAINER_TRAITS_TYPEDEFS(_elementType);
 
    enum {ROWS = 4, COLS = 4};
    enum {DIMENSION = 3};
 
    typedef vctFixedSizeMatrix<value_type, ROWS, COLS, _rowMajor> ContainerType;
    typedef vctFrame4x4Base<ContainerType> BaseType;
    typedef vctFrame4x4<value_type, _rowMajor> ThisType;

    typedef cmnTypeTraits<value_type> TypeTraits;
 
 
public:
 

    vctFrame4x4(void):
        BaseType()
    {
        this->Assign(this->Identity());
    }

    vctFrame4x4(const ThisType & other):
        BaseType()
    {
        this->Assign(other);
    }
 
    inline ThisType & operator = (const ThisType & other) {
        return reinterpret_cast<ThisType &>(this->Assign(other));
    }

    template <bool __rowMajor>
    vctFrame4x4(const vctFrame4x4<value_type, __rowMajor> & other):
        BaseType()
    {
        this->Assign(other);
    }
 
    template <bool __rowMajor>
    inline ThisType & operator = (const vctFrame4x4<value_type, __rowMajor> & other) {
        return reinterpret_cast<ThisType &>(this->Assign(other));
    }
 

    template <class __containerType>
    vctFrame4x4(const vctFrame4x4ConstBase<__containerType> & other):
        BaseType()
    {
        this->Assign(other);
    }
 
    template <class __containerType>
    inline ThisType & operator = (const vctFrame4x4ConstBase<__containerType> & other) {
        return reinterpret_cast<ThisType &>(this->Assign(other));
    }
 

    vctFrame4x4(const ContainerType & other):
        BaseType()
    {
        this->Assign(other);
    }
 
    inline ThisType & operator = (const ContainerType & other) {
        return reinterpret_cast<ThisType &>(this->Assign(other));
    }
 

    template <class _rotationType, class _translationType>
    vctFrame4x4(const _rotationType & rotation,
                const _translationType & translation):
        BaseType()
    {
        this->From(rotation, translation);
    }

    template <class __containerType>
    explicit inline
    vctFrame4x4(const vctFrameBase<__containerType> & other):
        BaseType()
    {
        this->From(other);
    }

    template <class __containerType>
    inline
    vctFrame4x4(const vctFrameBase<__containerType> & other,
                bool normalizeInput):
        BaseType()
    {
        if (normalizeInput) {
            this->FromNormalized(other);
        } else {
            this->FromRaw(other);
        }
    }
};
 
 
// declared in vctFrame4x4ConstBase.h
template <class _containerType>
inline typename vctFrame4x4ConstBase<_containerType>::FrameValueType
vctFrame4x4ConstBase<_containerType>::Inverse(void) const {
    FrameValueType result;
    result.InverseOf(*this);
    return result;
}
 
 
// operators
template <class _containerType,
          vct::stride_type _stride, class _dataPtrType>
inline vctFixedSizeVector<typename _containerType::value_type, 3>
operator * (const vctFrame4x4ConstBase<_containerType> & frame,
            const vctFixedSizeConstVectorBase<3, _stride, typename _containerType::value_type, _dataPtrType> & vector) {
    vctFixedSizeVector<typename _containerType::value_type, 3> result;
    frame.ApplyTo(vector, result);
    return result;
}
 
template <class _containerType1, class _containerType2>
inline vctFrame4x4<typename _containerType1::value_type>
operator * (const vctFrame4x4ConstBase<_containerType1> & frame1,
            const vctFrame4x4ConstBase<_containerType2> & frame2) {
    vctFrame4x4<typename _containerType1::value_type> result;
    frame1.ApplyTo(frame2, result);
    return result;
}
 
template <class _containerType,
          vct::size_type _cols, vct::stride_type _rowStride, vct::stride_type _colStride, class _dataPtrType>
inline vctFixedSizeMatrix<typename _containerType::value_type, 3, _cols >
operator * (const vctFrame4x4ConstBase<_containerType> & frame,
            const vctFixedSizeConstMatrixBase<3, _cols, _rowStride, _colStride, typename _containerType::value_type, _dataPtrType> & matrix)
{
    vctFixedSizeMatrix<typename _containerType::value_type, 3, _cols > result;
    frame.ApplyTo(matrix, result);
    return result;
}
 
 
#endif  // _vctFrame4x4_h