coordTransform.h

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/*********************************************************************
** Copyright (c) 1992-2010 MAK Technologies, Inc
** All rights reserved.
*********************************************************************/
#pragma once

#include <vlutil/vlMachineTypes.h>
#include "vlVector.h"
#include "vlDcm.h"
#include "vlTaitBryan.h"
#include <vlutil/vlUtil.h>


#ifdef DtUSE_UTILITIES_NAMESPACE
namespace DtUSE_UTILITIES_NAMESPACE
{
#endif

class DT_DLL_MATRIX DtCoordTransform
{
public:
   DtCoordTransform();
   DtCoordTransform(const DtVector& toOriginInFromCoord, const DtDcm& from2to);
   void setOffset(const DtVector& toOriginInFromCoord);
   void setRotation(const DtDcm& from2to);
   void setByInverse(const DtCoordTransform &to2from);

   DtVector offset() const;
   DtDcm rotation() const;

   void getOrientation(DtDcmRef from_to) const;

   void coordTrans(const DtVector& from, DtVector& to) const;
   void vecTrans(const DtVector& from, DtVector& to) const;
   void vecTrans(const DtVector32& from, DtVector32& to) const;
   void eulerTrans(const DtTaitBryan &from, DtTaitBryan *to) const;

public:

   void getOffset(DtVector& toOriginInFromCoord) const;

protected:

   DtVector myOffset; 
   DtDcm    myRotation;
};

#ifdef DtUSE_UTILITIES_NAMESPACE
}
#endif