selectionTransformTool.h

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#ifndef SELECTION_TRANSFORM_TOOL_H_
#define SELECTION_TRANSFORM_TOOL_H_

#include <pcl/apps/point_cloud_editor/toolInterface.h>
#include <pcl/apps/point_cloud_editor/localTypes.h>
#include <pcl/apps/point_cloud_editor/trackball.h>

class SelectionTransformTool : public ToolInterface
{
  public:
    SelectionTransformTool (ConstSelectionPtr selection_ptr,
                            CloudPtr cloud_ptr,
                            CommandQueuePtr command_queue_ptr);

    ~SelectionTransformTool ()
    {
    }

    void
    start (int x, int y, BitMask modifiers, BitMask buttons);

    void
    update (int x, int y, BitMask modifiers, BitMask buttons);

    void
    end (int x, int y, BitMask modifiers, BitMask buttons);

    void
    draw () const
    {
    }
    
  private:
    void
    getRotateMatrix (int dx, int dy, float* rotation_matrix_a,
                     float* rotation_matrix_b, BitMask buttons) const;

    void
    findSelectionCenter ();

    ConstSelectionPtr selection_ptr_;

    CloudPtr cloud_ptr_;

    CommandQueuePtr command_queue_ptr_;

    TrackBall trackball_;

    int x_, y_;

    float center_xyz_[XYZ_SIZE];

    float transform_matrix_[MATRIX_SIZE];

    float translate_factor_;

    static const float DEFAULT_TRANSLATE_FACTOR_;

    BitMask modifiers_;

};
#endif // SELECTION_TRANSFORMER_H_