resectionsolver.h

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#ifndef RESECTIONSOLVER_H
#define RESECTIONSOLVER_H
#include <vector>

#include <MathHelpers/Resectionsolver/feasibilitychecker.h>
#include <calibration_object.h>
#ifndef Q_MOC_RUN
#include <Eigen/Dense>
#include <boost/shared_ptr.hpp>
#endif

class ResectionSolver
{
public:
    ResectionSolver(boost::shared_ptr<Calibration_Object> calibrationObject, boost::shared_ptr<FeasibilityChecker> feasibilityChecker);
    unsigned int solve(const Eigen::Vector2d& base_A, const Eigen::Vector2d& base_B, const Eigen::Vector2d& base_C);
    Eigen::Matrix4d calculateTransformationMatrix(const Eigen::Vector2d& base_A, const Eigen::Vector2d& base_B, const Eigen::Vector2d& base_C, const Eigen::Vector3d& solution);
    std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > solutions;
    std::vector<double> solutions_a;
    std::vector<double> solutions_b;
    std::vector<double> solutions_c;

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
protected:
    double q_0, q_1, q_2, q_3, q_4;
    boost::shared_ptr<Calibration_Object> calibrationObject;
    double K_1, K_2;

    boost::shared_ptr<FeasibilityChecker> feasibilityChecker;

    int solve_for_lengths(double side_A, double side_B, double side_C);
    unsigned int solve_for_lengths_(double side_A, double side_B, double side_C);
    Eigen::Vector3d solve_for_top(const Eigen::Vector2d& base_A, const Eigen::Vector2d& base_B, const Eigen::Vector2d& base_C, double length_AS, double length_BS, double length_CS);

};

#endif // RESECTIONSOLVER_H