transformCommand.h

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#ifndef TRANSFORM_COMMAND_H_
#define TRANSFORM_COMMAND_H_

#include <pcl/apps/point_cloud_editor/command.h>
#include <pcl/apps/point_cloud_editor/localTypes.h>
#include <pcl/apps/point_cloud_editor/cloud.h>


class TransformCommand : public Command
{
  public:
    TransformCommand (ConstSelectionPtr selection_ptr, CloudPtr cloud_ptr,
                      const float* matrix, float translate_x,
                      float translate_y, float translate_z);
  
    ~TransformCommand ()
    {
    }

  protected:
    // Transforms the coorindates of the selected points according to the transform
    // matrix.
    void
    execute ();

    // Restore the coordinates of the transformed points.
    void
    undo ();

  private:
    TransformCommand (const TransformCommand&)
    {
    }

    TransformCommand&
    operator= (const TransformCommand&)
    {
      assert(false); return (*this);
    }

    void
    applyTransform(ConstSelectionPtr sel_ptr);

    SelectionPtr internal_selection_ptr_;

    float transform_matrix_[MATRIX_SIZE];

    float translate_x_, translate_y_, translate_z_;

    ConstSelectionPtr selection_ptr_;

    CloudPtr cloud_ptr_;

    float cloud_matrix_[MATRIX_SIZE];
    float cloud_matrix_inv_[MATRIX_SIZE];

    float cloud_center_[XYZ_SIZE];
};

#endif // TRANSFORM_COMMAND_H_