Pose.h

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/*
 * 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 POSE_H
#define POSE_H

#include "Alvar.h"
#include "Rotation.h"

namespace alvar {

class ALVAR_EXPORT Pose : public Rotation {
protected:
        // Note, although we are using homogeneous coordinates x, y, z, w --  w is now mostly ignored
public:
        double translation[4];
        CvMat  translation_mat;

        void Output() const;
        Pose();
        Pose(CvMat *tra, CvMat *rot, RotationType t);
        Pose(CvMat *mat);
        Pose(const Pose& p);
        void Reset();
        void SetMatrix(const CvMat *mat);
        void SetMatrixGL(double gl[16], bool mirror=true);
        void GetMatrix(CvMat *mat) const;
        void GetMatrixGL(double gl[16], bool mirror=true);
        void Transpose();
        void Invert();
        void Mirror(bool x, bool y, bool z);
        void SetTranslation(const CvMat *tra);
        void SetTranslation(const double *tra);
        void SetTranslation(const double x, const double y, const double z);
        void GetTranslation(CvMat *tra) const;
        Pose& operator  = (const Pose& p);
};

} // namespace alvar

#endif