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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