Placement.h

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/************************************************************************
* @file Placement.h
*
* @brief 位置姿态类
*
* @details 位置姿态类
*
* @author dixu
*
* @version 1.0
*
* @date 2014-9-11
*
* @license 北京华科软科技有限公司
*
*************************************************************************/
 
#ifndef BIMHOMEBASE_PLACEMENT_H
#define BIMHOMEBASE_PLACEMENT_H
 
#include <Base/Rotation.h>
#include <Base/Vector3D.h>
 
namespace Base 
{
 
    class DualQuat;
    class Matrix4D;
    class BaseExport Placement
    {
    public:
        static Placement fromDualQuaternion(DualQuat qq);
 
        static Placement slerp(const Placement& p0, const Placement& p1, double t);
 
        static Placement sclerp(const Placement& p0, const Placement& p1, double t, bool shorten = true);
 
    public:
        Placement();
 
        Placement(const Placement&);
 
        Placement(const Base::Matrix4D& matrix);
 
        Placement(const Vector3d& Pos, const Rotation& Rot);
 
        Placement(const Vector3d& Pos, const Rotation& Rot, const Vector3d& Cnt);
 
        ~Placement() {}
 
        Matrix4D toMatrix() const;
 
        void fromMatrix(const Matrix4D& m);
 
        DualQuat toDualQuaternion() const;
 
        const Vector3d& getPosition() const
        {
            return m_Pos;
        }
 
        const Rotation& getRotation() const
        {
            return m_Rot;
        }
 
        void setPosition(const Vector3d& Pos)
        {
            m_Pos = Pos;
        }
 
        void setRotation(const Rotation& Rot)
        {
            m_Rot = Rot;
        }
 
        bool isIdentity() const;
 
        void invert();
 
        Placement inverse() const;
 
        void move(const Vector3d& MovVec);
 
        Placement pow(double t, bool shorten = true) const;
 
        void multVec(const Vector3d& src, Vector3d& dst) const;
 
        Placement& operator *= (const Placement& p);
 
        Placement operator * (const Placement& p) const;
 
        bool operator == (const Placement& that) const;
 
        bool operator != (const Placement& that) const;
 
        Placement& operator = (const Placement&);
 
    protected:
        Vector3<double> m_Pos; 
        Base::Rotation  m_Rot; 
    };
} // namespace Base
 
#endif // BIMHOMEBASE_PLACEMENT_H