coordUtils.h

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/****************************************************************************** 
** Copyright (c) 2017 MAK Technologies, Inc. 
** All rights reserved. 
******************************************************************************/ 


#pragma once

#include <vrvUtil/vrvUtil.h> 
#include <vrvUtil/DtQuat.h>
#include <matrix/vlVector.h>
#include <matrix/vlDcm.h>
#include <matrix/vlTaitBryan.h>
#include <matrix/geodeticCoord.h>

class DtTaitBryan;
class DtDcm;

namespace makVrv 
{
   class DtCoordinateConverter;
   class DtCoordinateSystem;

   DT_DLL_VRVUTIL DtTaitBryan orientUp( DtCoordinateConverter& converter, 
      const DtVector& position, const DtTaitBryan& orientation );

   DT_DLL_VRVUTIL DtDcm orientUpDcm( DtCoordinateConverter& converter, 
      const DtVector& position, const DtTaitBryan& orientation );

   
   DT_DLL_VRVUTIL DtQuat DtOrientToVector( DtCoordinateConverter& converter, 
      const DtVector& start, const DtVector& end );

   DT_DLL_VRVUTIL DtQuat DtOrientToDirectionVector( 
      DtCoordinateConverter& converter, const DtVector& localLocation, 
      const DtVector& dirVec );

   DT_DLL_VRVUTIL DtTaitBryan DtGetLevelOrientation(
      DtCoordinateConverter& converter, const DtTaitBryan& cigOri);

   DT_DLL_VRVUTIL DtTaitBryan DtEastNorthUpToNorthEastDown( const DtTaitBryan& tbIn );
   DT_DLL_VRVUTIL DtTaitBryan DtNorthEastDownToEastNorthUp( const DtTaitBryan& tbIn );
   DT_DLL_VRVUTIL DtTaitBryan DtXFrontZDownToYFrontZUp( const DtTaitBryan& tbIn );
   DT_DLL_VRVUTIL DtTaitBryan DtYFrontZUpToXFrontZDown( const DtTaitBryan& tbIn );
   DT_DLL_VRVUTIL DtDcm DtEastNorthUpToNorthEastDown( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtDcm DtNorthEastDownToEastNorthUp( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtDcm DtXFrontZDownToYFrontZUp( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtDcm DtYFrontZUpToXFrontZDown( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtDcm DtSwapDcmAxes( const DtDcm& dcmIn );
   DT_DLL_VRVUTIL DtTaitBryan DtSwapTaitBryanAxes( const DtTaitBryan& tbIn );

   DT_DLL_VRVUTIL DtGeodeticCoord DtLocalToGeodetic( const DtVector& localLocation,
      const DtCoordinateSystem& coordSystem );
   DT_DLL_VRVUTIL DtVector DtGeodeticToLocal( const DtGeodeticCoord& geodeticLocation,
      const DtCoordinateSystem& coordSystem  );
}