gz/common/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 GZ_COMMON_NODE_TRANSFORM_HH_
#define GZ_COMMON_NODE_TRANSFORM_HH_
#include <memory>
#include <string>
 
#include <gz/math/Matrix4.hh>
#include <gz/math/Vector3.hh>
 
#include <gz/utils/ImplPtr.hh>
 
#include <gz/common/graphics/Export.hh>
#include <gz/common/Util.hh>
 
namespace gz
{
  namespace common
  {
    class GZ_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;
 
      GZ_UTILS_IMPL_PTR(dataPtr)
    };
  }
}
#endif