include/vrvUtil/DtCartesianCoordinateConverter.h

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/****************************************************************************** 
** Copyright (c) 2007 MAK Technologies, Inc. 
** All rights reserved. 
******************************************************************************/ 
/*********************************************************************
** $RCSfile: DtCartesianCoordinateConverter.h,v $ $Revision: 1.11 $ $State: Exp $
*********************************************************************/


#ifndef DtCartesianCoordinateConverter_H_
#define DtCartesianCoordinateConverter_H_

#include <vrvUtil/DtCoordinateConverter.h>

#include <matrix/vlVector.h>
#include <matrix/vlTaitBryan.h>
#include <matrix/coordTransform.h>

namespace makVrv
{

class DT_DLL_VRVUTIL DtCartesianCoordinateConverter : public DtCoordinateConverter
{
public:

   DtCartesianCoordinateConverter();

   virtual ~DtCartesianCoordinateConverter();

   virtual DtCoordinateConverter* clone() const;

   virtual void init(
      double x = 0.0, double y = 0.0, double z = 0.0, 
      double h = 0.0, double p = 0.0, double r = 0.0);

   virtual void init(
      const DtVector& translationOffset, 
      const DtTaitBryan& rotationOffset);

   virtual bool init(const std::string& originstring);

   virtual std::string stringRep();

   virtual const DtVector& translationOffset() const;

   virtual const DtTaitBryan& rotationOffset() const;

   /********************* Conversions *****************************/
   virtual void geocToCig(const DtVector& geoc, DtVector& out) const;

   virtual void cigToGeoc(const DtVector& in, DtVector& geoc) const;

   virtual void setupTopoFrame(const DtVector& truePos);

   virtual void cigToEnu_coordTrans(const DtVector& cigPos, DtVector& enuPos) const;
   virtual void cigToEnu_vecTrans(const DtVector& cigVec, DtVector& enuVec) const;
   virtual void enuToCig_coordTrans(const DtVector& enuPos, DtVector& cigPos) const;
   virtual void enuToCig_vecTrans(const DtVector& enuVec, DtVector& cigVec) const;

public:

   static DtCoordinateConverter* create();

private:

   DtCartesianCoordinateConverter(const DtCartesianCoordinateConverter& orig);

   DtCartesianCoordinateConverter& operator=(const DtCartesianCoordinateConverter& orig);

protected:

   DtVector myTranslationOffset;
   DtTaitBryan myRotationOffset;

   DtCoordTransform myGeocToLocal;
   DtCoordTransform myLocalToGeoc;
};

}

#endif