transform.h
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00001 /*
00002  * Copyright 2014 Google Inc. All Rights Reserved.
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef TANGO_GL_TRANSFORM_H_
00018 #define TANGO_GL_TRANSFORM_H_
00019 
00020 #include "glm/glm.hpp"
00021 #include "glm/gtc/quaternion.hpp"
00022 
00023 namespace tango_gl {
00024 class Transform {
00025  public:
00026   Transform();
00027   virtual ~Transform();
00028 
00029   Transform(const Transform& other) = delete;
00030   const Transform& operator=(const Transform& rhs) = delete;
00031 
00032   void SetPosition(const glm::vec3& position);
00033   glm::vec3 GetPosition() const;
00034 
00035   void SetRotation(const glm::quat& rotation);
00036   glm::quat GetRotation() const;
00037 
00038   void SetScale(const glm::vec3& scale);
00039   glm::vec3 GetScale() const;
00040 
00041   void Translate(const glm::vec3& translation);
00042 
00043   void SetTransformationMatrix(const glm::mat4& transform_mat);
00044   glm::mat4 GetTransformationMatrix() const;
00045 
00046   void SetParent(Transform* transform);
00047 
00048   const Transform* GetParent() const ;
00049   Transform* GetParent() ;
00050 
00051  private:
00052   Transform* parent_;
00053 
00054   glm::vec3 position_;
00055   glm::quat rotation_;
00056   glm::vec3 scale_;
00057 };
00058 }  // namespace tango_gl
00059 #endif  // TANGO_GL_TRANSFORM_H_


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:31