| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file OneAxisRotation.h
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| 7 | * \brief Class defining a rotation around one axis
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2013/04/17
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef ONEAXISROTATION_H
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| 14 | #define ONEAXISROTATION_H
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| 15 |
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| 16 | #include <GroupBox.h>
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| 17 | #include <Vector3D.h>
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| 18 |
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| 19 | class OneAxisRotation_impl;
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| 20 |
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| 21 | namespace flair {
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| 22 | namespace gui {
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| 23 | class LayoutPosition;
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| 24 | }
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| 25 |
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| 26 | namespace core {
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| 27 | class Euler;
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| 28 | class Quaternion;
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| 29 | class RotationMatrix;
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| 30 |
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| 31 | /*! \class OneAxisRotation
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| 32 | *
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| 33 | * \brief Class defining a rotation around one axis
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| 34 | *
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| 35 | * Axe and value of the rotation are placed in a GroupBox on ground station.
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| 36 | *
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| 37 | */
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| 38 | class OneAxisRotation : public gui::GroupBox {
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| 39 | public:
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| 40 | /*!
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| 41 | \enum RotationType_t
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| 42 | \brief rotation type
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| 43 | */
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| 44 | enum RotationType_t {
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| 45 | PreRotation,//rotation
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| 46 | PostRotation//frame change
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| 47 | };
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| 48 | /*!
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| 49 | * \brief Constructor
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| 50 | *
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| 51 | * Construct a OneAxisRotation at given position.
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| 52 | *
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| 53 | * \param position position to place the GroupBox
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| 54 | * \param name name
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| 55 | */
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| 56 | OneAxisRotation(const gui::LayoutPosition *position, std::string name,RotationType_t rotationType);
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| 57 |
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| 58 | /*!
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| 59 | * \brief Destructor
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| 60 | *
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| 61 | */
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| 62 | ~OneAxisRotation();
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| 63 |
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| 64 | /*!
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| 65 | * \brief Compute rotation
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| 66 | *
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| 67 | * \param vector Vector3Df to rotate
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| 68 | */
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| 69 | template <typename T> void ComputeRotation(core::Vector3D<T> &vector) const;
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| 70 |
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| 71 | /*!
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| 72 | * \brief Compute rotation
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| 73 | *
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| 74 | * \param euler Euler angle to rotate
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| 75 | */
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| 76 | void ComputeRotation(core::Euler &euler) const;
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| 77 |
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| 78 | /*!
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| 79 | * \brief Compute rotation
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| 80 | *
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| 81 | * \param quaternion Quaternion to rotate
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| 82 | */
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| 83 | void ComputeRotation(core::Quaternion &quaternion) const;
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| 84 |
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| 85 | /*!
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| 86 | * \brief Compute rotation
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| 87 | *
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| 88 | * \param matrix RotationMatrix to rotate
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| 89 | */
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| 90 | void ComputeRotation(core::RotationMatrix &matrix) const;
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| 91 |
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| 92 | /*!
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| 93 | * \brief Get angle
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| 94 | *
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| 95 | * \return angle in radians
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| 96 | */
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| 97 | float GetAngle() const;
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| 98 | int GetAxis() const;
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| 99 |
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| 100 | private:
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| 101 | const class OneAxisRotation_impl *pimpl_;
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| 102 | };
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| 103 |
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| 104 | } // end namespace core
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| 105 | } // end namespace flair
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| 106 |
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| 107 | #endif // ONEAXISROTATION_H
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