NodeTransform.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_COMMON_NODE_TRANSFORM_HH_
#define IGNITION_COMMON_NODE_TRANSFORM_HH_
#include <memory>
#include <string>

#include <ignition/math/Matrix4.hh>
#include <ignition/math/Vector3.hh>

#include <ignition/utils/ImplPtr.hh>

#include <ignition/common/graphics/Export.hh>
#include <ignition/common/Util.hh>

namespace ignition
{
  namespace common
  {
    class IGNITION_COMMON_GRAPHICS_VISIBLE NodeTransform
    {
      public: explicit NodeTransform(const NodeTransformType _type = MATRIX);

      public: NodeTransform(const math::Matrix4d &_mat,
                  const std::string &_sid = "_default_",
                  const NodeTransformType _type = MATRIX);

      public: ~NodeTransform();

      public: void Set(const math::Matrix4d &_mat);

      public: math::Matrix4d Get() const;

      public: void SetType(const NodeTransformType _type);

      public: NodeTransformType Type() const;

      public: void SetSID(const std::string &_sid);

      public: std::string SID() const;

      public: void SetComponent(const unsigned int _idx, const double _value);

      public: void SetSourceValues(const math::Matrix4d &_mat);

      public: void SetSourceValues(const math::Vector3d &_vec);

      public: void SetSourceValues(const math::Vector3d &_axis,
                  const double _angle);

      public: void RecalculateMatrix();

      public: void PrintSource() const;

      public: math::Matrix4d operator()() const;

      public: math::Matrix4d operator*(const NodeTransform &_t) const;

      public: math::Matrix4d operator*(const math::Matrix4d &_m) const;

      IGN_UTILS_IMPL_PTR(dataPtr)
    };
  }
}
#endif