VR-Link API Documentation for HLA 1516: coordTransform.h Source File

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00001 /*********************************************************************
00002 ** Copyright (c) 1992-2010 VT MAK
00003 ** All rights reserved.
00004 *********************************************************************/
00008 #pragma once
00009 
00010 #include <vlutil/vlMachineTypes.h>
00011 #include "vlVector.h"
00012 #include "vlDcm.h"
00013 #include "vlTaitBryan.h"
00014 #include <vlutil/vlUtil.h>
00015 
00016 
00017 #ifdef DtUSE_UTILITIES_NAMESPACE
00018 namespace DtUSE_UTILITIES_NAMESPACE
00019 {
00020 #endif
00021 
00029 class DT_DLL_MATRIX DtCoordTransform
00030 {
00031 public:
00032    DtCoordTransform();
00033    DtCoordTransform(const DtVector& toOriginInFromCoord, const DtDcm& from2to);
00034    void setOffset(const DtVector& toOriginInFromCoord);
00035    void setRotation(const DtDcm& from2to);
00036    void setByInverse(const DtCoordTransform &to2from);
00037 
00038    DtVector offset() const;
00039    DtDcm rotation() const;
00040 
00041    void getOrientation(DtDcmRef from_to) const;
00042 
00043    void coordTrans(const DtVector& from, DtVector& to) const;
00044    void vecTrans(const DtVector& from, DtVector& to) const;
00045    void eulerTrans(const DtTaitBryan &from, DtTaitBryan *to) const;
00046 
00047 public:
00048 
00050    void getOffset(DtVector& toOriginInFromCoord) const;
00051 
00052 protected:
00053 
00054    DtVector myOffset; 
00055    DtDcm    myRotation;
00056 };
00057 
00058 #ifdef DtUSE_UTILITIES_NAMESPACE
00059 }
00060 #endif
00061 
00062 
00063