Rotation.h

Go to the documentation of this file.

/*
 * This file is part of ALVAR, A Library for Virtual and Augmented Reality.
 *
 * Copyright 2007-2012 VTT Technical Research Centre of Finland
 *
 * Contact: VTT Augmented Reality Team <alvar.info@vtt.fi>
 *          <http://www.vtt.fi/multimedia/alvar.html>
 *
 * ALVAR is free software; you can redistribute it and/or modify it under the
 * terms of the GNU Lesser General Public License as published by the Free
 * Software Foundation; either version 2.1 of the License, or (at your option)
 * any later version.
 *
 * This library is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
 * for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with ALVAR; if not, see
 * <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>.
 */

#ifndef ROTATION_H
#define ROTATION_H

#include <iostream>

#include "Alvar.h"
#include "Util.h"

namespace alvar {

class ALVAR_EXPORT Rotation
{

public: 
        CvMat quaternion_mat;
        double quaternion[4];
        
        enum RotationType {QUAT, MAT, EUL, ROD};

        Rotation();
        Rotation(const Rotation& r);
        
        Rotation(CvMat *data, RotationType t);

        Rotation& operator  = (const Rotation& p);
        Rotation& operator += (const Rotation& v);
        //Rotation& operator +  () {return *this;}

        void Transpose();
        
        static void MirrorMat(CvMat *mat, bool x, bool y, bool z);
        
        void Mirror(bool x, bool y, bool z);

        void Reset();

        static void Mat9ToRod(double *mat, double *rod);

        static void RodToMat9(double *rod, double *mat);

        static void QuatInv(const double *q, double *qi);
        
        static void QuatNorm(double *q);
        
        static void QuatMul(const double *q1, const double *q2, double *q3);

        //%  The quaternion has to be normalized!!!
        static void QuatToMat9(const double *quat, double *mat);

        // TODO: Now we don't want to eliminate the translation part from the matrix here. Did this change break something???
        static void QuatToMat16(const double *quat, double *mat);
        
        static void QuatToEul(const double *q, double *eul);
        
        static void Mat9ToQuat(const double *mat, double *quat);
        
        static void EulToQuat(const double *eul, double *quat);
        
        void SetQuaternion(CvMat *mat);
        
        void SetQuaternion(const double *quat);
        
        void SetEuler(const CvMat *mat);
        
        void SetRodriques(const CvMat *mat);
        
        void SetMatrix(const CvMat *mat);
        
        void GetMatrix(CvMat *mat) const;
        
        void GetRodriques(CvMat *mat) const;
        
        void GetEuler(CvMat *mat) const;
        
        void GetQuaternion(CvMat *mat) const;
};

} // namespace alvar

#endif