source: flair-src/branches/sanscv/lib/FlairCore/src/OneAxisRotation_impl.cpp

Last change on this file was 324, checked in by Sanahuja Guillaume, 2 years ago

removing opencv dependency

File size: 2.8 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2013/04/17
6// filename: OneAxisRotation_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant pour une rotation sur un axe
14//
15//
16/*********************************************************************/
17
18#include "OneAxisRotation_impl.h"
19#include "OneAxisRotation.h"
20#include "GroupBox.h"
21#include "ComboBox.h"
22#include "DoubleSpinBox.h"
23#include <Euler.h>
24#include <Quaternion.h>
25#include <math.h>
26
27using std::string;
28using namespace flair::core;
29using namespace flair::gui;
30
31template void OneAxisRotation_impl::ComputeRotation(Vector3D<float>&) const;
32template void OneAxisRotation_impl::ComputeRotation(Vector3D<double>&) const;
33
34OneAxisRotation_impl::OneAxisRotation_impl(GroupBox *box,int rotationType) {
35 rot_value =
36 new DoubleSpinBox(box->NewRow(), "value", " deg", -180., 180., 10., 1);
37 rot_axe = new ComboBox(box->LastRowLastCol(), "axis");
38 rot_axe->AddItem("x");
39 rot_axe->AddItem("y");
40 rot_axe->AddItem("z");
41 this->rotationType=rotationType;
42}
43
44OneAxisRotation_impl::~OneAxisRotation_impl() {}
45
46void OneAxisRotation_impl::ComputeRotation(Quaternion &quat) const {
47 Quaternion rot;
48 switch (rot_axe->CurrentIndex()) {
49 case 0://x
50 rot=Quaternion(cosf(Euler::ToRadian(-rot_value->Value()/2)),sinf(Euler::ToRadian(-rot_value->Value()/2)),0,0);
51 break;
52 case 1://y
53 rot=Quaternion(cosf(Euler::ToRadian(-rot_value->Value()/2)),0,sinf(Euler::ToRadian(-rot_value->Value()/2)),0);
54 break;
55 case 2://z
56 rot=Quaternion(cosf(Euler::ToRadian(-rot_value->Value()/2)),0,0,sinf(Euler::ToRadian(-rot_value->Value()/2)));
57 break;
58 }
59 if(rotationType==OneAxisRotation::RotationType_t::PreRotation) {
60 quat=rot*quat;
61 } else { //post rotation
62 quat=quat*rot;
63 }
64}
65
66void OneAxisRotation_impl::ComputeRotation(RotationMatrix &matrix) const {
67 Printf("not yet implemented\n");
68}
69
70// on utilise la rotation d'un vector pour faire une rotation de repere
71// d'ou le signe negatif
72template <typename T> void OneAxisRotation_impl::ComputeRotation(Vector3D<T> &vector) const {
73 switch (rot_axe->CurrentIndex()) {
74 case 0:
75 vector.RotateXDeg(-rot_value->Value());
76 break;
77 case 1:
78 vector.RotateYDeg(-rot_value->Value());
79 break;
80 case 2:
81 vector.RotateZDeg(-rot_value->Value());
82 break;
83 }
84}
85
86void OneAxisRotation_impl::ComputeRotation(Euler &euler) const {
87 Quaternion quat;
88 euler.ToQuaternion(quat);
89 ComputeRotation(quat);
90 quat.ToEuler(euler);
91}
92
93int OneAxisRotation_impl::GetAxis() const {
94 return rot_axe->CurrentIndex();
95}
96
97float OneAxisRotation_impl::GetAngle() const {
98 return rot_value->Value();
99}
100
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