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 | // created: 2013/04/17
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6 | // filename: OneAxisRotation.cpp
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7 | //
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8 | // author: Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: Class defining a rotation around one axis
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | // this "filter" is in core but it should be in filter
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19 | // filter depends on sensoractuator
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20 | // sensoractuators depends on oneaxisrotation
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21 | // so if oneaxisrotation is in fiter we have a circular dependency
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22 | // TODO: fix this!
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23 |
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24 | #include "OneAxisRotation.h"
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25 | #include "OneAxisRotation_impl.h"
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26 | #include <Euler.h>
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27 |
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28 | using std::string;
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29 |
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30 | namespace flair {
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31 | namespace core {
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32 |
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33 | template void OneAxisRotation::ComputeRotation(core::Vector3D<float> &) const;
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34 | template void OneAxisRotation::ComputeRotation(core::Vector3D<double> &) const;
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35 |
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36 | OneAxisRotation::OneAxisRotation(const gui::LayoutPosition *position,string name,RotationType_t rotationType)
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37 | : gui::GroupBox(position, name) {
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38 | pimpl_ = new OneAxisRotation_impl(this,(int)rotationType);
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39 | }
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40 |
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41 | OneAxisRotation::~OneAxisRotation() { delete pimpl_; }
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42 |
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43 | template <typename T> void OneAxisRotation::ComputeRotation(Vector3D<T> &vector) const {
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44 | pimpl_->ComputeRotation(vector);
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45 | }
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46 |
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47 | void OneAxisRotation::ComputeRotation(Euler &euler) const {
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48 | pimpl_->ComputeRotation(euler);
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49 | }
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50 |
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51 | void OneAxisRotation::ComputeRotation(Quaternion &quaternion) const {
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52 | pimpl_->ComputeRotation(quaternion);
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53 | }
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54 |
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55 | void OneAxisRotation::ComputeRotation(RotationMatrix &matrix) const {
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56 | pimpl_->ComputeRotation(matrix);
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57 | }
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58 |
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59 | float OneAxisRotation::GetAngle() const {
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60 | return Euler::ToRadian(pimpl_->GetAngle());
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61 | }
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62 |
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63 | int OneAxisRotation::GetAxis() const {
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64 | return pimpl_->GetAxis();
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65 | }
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66 |
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67 | } // end namespace core
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68 | } // end namespace flair
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