source: flair-src/trunk/lib/FlairCore/src/OneAxisRotation.cpp@ 456

Last change on this file since 456 was 187, checked in by Sanahuja Guillaume, 5 years ago

changement post/pre rotation

File size: 1.9 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.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class defining a rotation around one axis
14//
15//
16/*********************************************************************/
17
18// this "filter" is in core but it should be in filter
19// filter depends on sensoractuator
20// sensoractuators depends on oneaxisrotation
21// so if oneaxisrotation is in fiter we have a circular dependency
22// TODO: fix this!
23
24#include "OneAxisRotation.h"
25#include "OneAxisRotation_impl.h"
26#include <Euler.h>
27
28using std::string;
29
30namespace flair {
31namespace core {
32
33template void OneAxisRotation::ComputeRotation(core::Vector3D<float> &) const;
34template void OneAxisRotation::ComputeRotation(core::Vector3D<double> &) const;
35
36OneAxisRotation::OneAxisRotation(const gui::LayoutPosition *position,string name,RotationType_t rotationType)
37 : gui::GroupBox(position, name) {
38 pimpl_ = new OneAxisRotation_impl(this,(int)rotationType);
39}
40
41OneAxisRotation::~OneAxisRotation() { delete pimpl_; }
42
43template <typename T> void OneAxisRotation::ComputeRotation(Vector3D<T> &vector) const {
44 pimpl_->ComputeRotation(vector);
45}
46
47void OneAxisRotation::ComputeRotation(Euler &euler) const {
48 pimpl_->ComputeRotation(euler);
49}
50
51void OneAxisRotation::ComputeRotation(Quaternion &quaternion) const {
52 pimpl_->ComputeRotation(quaternion);
53}
54
55void OneAxisRotation::ComputeRotation(RotationMatrix &matrix) const {
56 pimpl_->ComputeRotation(matrix);
57}
58
59float OneAxisRotation::GetAngle() const {
60 return Euler::ToRadian(pimpl_->GetAngle());
61}
62
63int OneAxisRotation::GetAxis() const {
64 return pimpl_->GetAxis();
65}
66
67} // end namespace core
68} // end namespace flair
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