RotationInvariantObjectsRotator.hpp

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#pragma once

#include <string>
#include <vector>

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


namespace ISM
{

class RotationInvariantObjectsRotator
{
    public:    
        void rotateRotationInvariantObjects(const std::string& sourceFile, const std::string& targetFile, const std::string& objectType, const std::string& objectId, bool useMapFrame, const std::vector<std::string>& rotationInvariantTypes);

    private:
        Eigen::AngleAxisd calculateTransform(const Eigen::Vector3d& objectAxis, const Eigen::Vector3d& referenceAxis,  const Eigen::Vector3d& unitAxis);

        void normalizeRotationInvarienceObjects(ISM::ObjectSetPtr objectSet, Eigen::Quaterniond quat, const std::vector<std::string>& rotationInvariantTypes);

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