PARP Research Group

Universidad de Murcia

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src/qvmath/qveuclideanmapping3.h Go to the documentation of this file. /* * Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012. PARP Research Group. * <http://perception.inf.um.es> * University of Murcia, Spain. * * This file is part of the QVision library. * * QVision is free software: you can redistribute it and/or modify * it under the terms of the GNU Lesser General Public License as * published by the Free Software Foundation, version 3 of the License. * * QVision is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with QVision. If not, see <http://www.gnu.org/licenses/>. */ #ifndef QVEUCLIDEANMAPPING3_H #define QVEUCLIDEANMAPPING3_H #include <QVMatrix> #include <QV3DPointF> #include <qvmath.h> class QVEuclideanMapping3 { private: QVQuaternion q; QV3DPointF t; public: QVEuclideanMapping3(): q(), t() { } QVEuclideanMapping3(const QVEuclideanMapping3 &other): q(other.q), t(other.t) { } QVEuclideanMapping3(const QVQuaternion &q, const QV3DPointF &t): q(q), t(t) { } QVEuclideanMapping3(const double quatx, const double quaty, const double quatz, const double quatw, const double tx, const double ty, const double tz): q(quatx, quaty, quatz, quatw), t(tx, ty, tz) { } QVEuclideanMapping3(const QVVector &v): q(v[0], v[1], v[2], v[3]), t(v[4], v[5], v[6]) { } QVEuclideanMapping3(const QVMatrix &Rt); QV3DPointF apply(const QV3DPointF &X) const { return q.rotate(X) + t; } operator QVVector() const { QVVector result(7); result[0] = q[0]; result[1] = q[1]; result[2] = q[2]; result[3] = q[3]; result[4] = t[0]; result[5] = t[1]; result[6] = t[2]; return result; } bool operator ==(const QVEuclideanMapping3 &other) const { return (q == other.q and t == other.t); } bool operator !=(const QVEuclideanMapping3 &other) const { return (q != other.q or t != other.t); } QVMatrix toRotationTranslationMatrix() const { QVMatrix Rt = QVMatrix::identity(4); const QVMatrix R = q.toRotationMatrix(); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) Rt(i,j) = R(i,j); Rt(i,3) = t[i]; } return Rt; } QVQuaternion getRotation() const { return q; } QV3DPointF getTranslation() const { return t; } void setRotation(const QVQuaternion &other) { q = other; } void setTranslation(const QV3DPointF &other) { t = other; } QVEuclideanMapping3 inverse() const { const QVQuaternion qInv = q.inverse(); return QVEuclideanMapping3(qInv, QV3DPointF(qInv.rotate(t)) * (-1)); } QVEuclideanMapping3 compose(const QVEuclideanMapping3 &other) const { return QVEuclideanMapping3(q * other.q, q.rotate(other.t) + t); } QVEuclideanMapping3 operator*(const QVEuclideanMapping3 &other) const { return compose(other); }; QVEuclideanMapping3 operator/(const QVEuclideanMapping3 &other) const { return compose(other.inverse()); }; }; #endif

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