RecordedObjectsTransformer.hpp

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#pragma once

#include <string>
#include <vector>

#include "../common_type/ObjectSet.hpp"


namespace ISM
{

class RecordedObjectsTransformer
{
    public:    
        void transformRecordedObjects(const std::string& sourceFile, const std::string& targetFile, const std::string& type, const std::string& id,
                                      double px, double py, double pz, double qw, double qx, double qy, double qz);

    private:
        void transformSet(ISM::ObjectSetPtr objectSet, Eigen::Vector3d point, Eigen::Quaterniond quat, Eigen::Vector3d orginalCenter);
        void transformSet(ISM::ObjectSetPtr objectSet, Eigen::Vector3d point, double angle);

        ObjectPtr getReferenceObject(ObjectSetPtr oset, const std::string& type, const std::string& id);
};
}