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basicFrames.h

Go to the documentation of this file.

#ifndef animal_frame_h______________________________
#define animal_frame_h______________________________


namespace animal
{
//======================= Bases ==================================

template<class Vec1, class Basis, class Vec2>
void v_eq_project_vec( Vec1& v, const Basis& b, const Vec2& a );

template<class Basis1, class Basis2>
void b_eq_inverse( Basis1& b, const Basis2& a );

template<class Basis,class Real>
void b_eq_eulerX( Basis& b, Real a );

template<class Basis,class Real>
void b_eq_eulerY( Basis& b, Real a );

template<class Basis,class Real>
void b_eq_eulerZ( Basis& b, Real a );


template<class Basis,class Real>
void b_eq_eulerXYZ( Basis& b, Real a, Real b, Real c );

/* TODO: 

template<class Real, class Basis>
void getEulerXYZ( Real& a, Real& b, Real& c, const Basis&b );

template<class Real, class Basis>
void b_eq_rotationAxisAngle( Basis& b, Real ax, Real ay, Real az, Real angle );

template<class Real, class Basis>
void getRotationAxisAngle( Real& ax, Real& ay, Real& az, Real& angle, const Basis& b);

template<class Quaternion, class Basis>
void getQuaternion( Quaternion& q, const Basis& b );

template<class Quaternion, class Basis>
void b_eq_quaternion( Basis& b, const Quaternion& q );
*/

//======================= Frames ==================================


/* Project point a from frame f to another frame.
f (typically a basis and a translation vector) defines the reference frame of point a with respect to the other reference frame.
\sa{f_eq_inverse}
*/
template<class Vec1, class Frame, class Vec2>
void v_eq_project_point( Vec1& v, const Frame& f, const Vec2& a );

/* Compute inverse of frame transform a and stores it in f. 
Frame f can then be used to project points to frame a.
\pre{ a must not be singular }
\sa{v_eq_project_point}
*/
template<class Frame>
void f_eq_inverse( Frame& f, const Frame& a );




//======================= default Frame class =============================
template<int N=3, class Real=float>
struct Frame
{
    typedef  Array<N,Real> Vec;     
    typedef Array< N,Vec > Basis; 
    
    Frame();
    
    Frame( const Basis& b, const Vec& t );

    Basis basis; 
    Vec displacement; 
};

template<class Basis, class Vec>
const Vec& get_translation( const Frame<Basis,Vec>& f );
 
template<class Basis, class Vec>
Vec& set_translation( Frame<Basis,Vec>& f );
 
template<class Basis, class Vec>
const Basis& get_basis( const Frame<Basis,Vec>& f );
 
template<class Basis, class Vec>
Basis& set_basis( Frame<Basis,Vec>& f );
 
}// animal




#endif

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