coordinateConverter.h

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/******************************************************************************
** Copyright (c) 2011 MAK Technologies, Inc.
** All rights reserved.
******************************************************************************/

#pragma once
#include "geometry/point.h"
#include "matrix/coordTransform.h"
#include <bhaveUtil/bhaveUtilDefines.h>
#include "vlutil/vlString.h"
#include "kypathdata/math/vec3f.h"

class Coordinate_System;

namespace BHAVE
{
   class DT_DLL_bhaveUtil DtCoordinateConverter;

   typedef DT_DLL_bhaveUtil DtCoordinateConverter* (*DtCoordConvCreatorFunc)();

   class DT_DLL_bhaveUtil DtCoordinateConverter
   {
   protected:
      DtCoordinateConverter();
      DtCoordinateConverter(const DtCoordinateConverter& orig);
      void operator=(const DtCoordinateConverter& orig);

   public:
      virtual ~DtCoordinateConverter();

      static DtCoordinateConverter* instance();

      static bool isGeocentric(bool ignoreRefPoint = false);
           
      virtual const DtPoint& geocentricRefPoint() const;

      virtual void setGeocentricRefPoint(const DtPoint& point);

      virtual bool loadGeocentricRefPointFromFile(const DtString& filePath);

      virtual void saveGeocentricRefPointToFile(const DtString& filePath) const;  

      virtual bool convertGeoToBhave(const Kaim::Vec3f& point, Kaim::Vec3f& result) const;
      virtual bool convertGeoToBhave(const DtVector& point, Kaim::Vec3f& result) const;
      virtual bool convertGeoToBhave(const DtPoint& point, Kaim::Vec3f& result) const;
      virtual bool convertGeoToBhave(const DtPoint& point, DtPoint& result) const;
      virtual bool convertGeoToBhave(const DtVector& point, DtVector& result) const;

      virtual bool convertBhaveToGeo(const Kaim::Vec3f& point, Kaim::Vec3f& result) const;
      virtual bool convertBhaveToGeo(const DtVector& point, DtVector& result) const;
      virtual bool convertBhaveToGeo(const Kaim::Vec3f& point, DtPoint& result) const;
      virtual bool convertBhaveToGeo(const Kaim::Vec3f& point, DtVector& result) const;
      virtual bool convertBhaveToGeo(const DtPoint& point, DtPoint& result) const;

      virtual bool convertOrientationToBhave(const DtVector& orientation, DtVector& result) const;

      virtual bool convertBhaveOrientationToGeo(const DtVector& orientation, DtVector& result) const;

      virtual double kynapseHeadingToVrfHeading(const double kynHeading, 
         const Coordinate_System& coordSys, const DtVector& localPosition) const;

   protected:
      static DtCoordinateConverter* creator();
      static void setCreator(DtCoordConvCreatorFunc creatorFunc);

      virtual void generateTransformMatrices();
   
      static DtCoordinateConverter* theInstance;
      static DtCoordConvCreatorFunc theCreator;
      DtPoint myGeoRefPoint;
      DtCoordTransform* myMatrix;
      DtDcm myGeoCorrectionMatrix;
      DtDcm myInvGeoCorrectionMatrix;
      DtCoordTransform myInvMatrix;
   };
}