a_coord.h

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/*
Copyright 2010-2012 Pierre SMARS (smars@yuntech.edu.tw)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 2 of the License, or
(at your option) any later version.
 
This program 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 General Public License for more details.
 
You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _VE_COORD_H_
#define _VE_COORD_H_
 
#include <vector>
#include <string>
#include <iostream>
#include "a_coord_base.h"
#include "a_mat_c.h"
#include "a_point.h"
 
class a_coord : public a_coord_base
{
public:
   a_coord();
   a_coord(const std::string& aname);
   a_coord(const a_coord& coord);
   ~a_coord();
   virtual const std::string classname() {return "a_coord";};
   static const std::string help();
 
   std::string   name() const { return name_; };
   void          name(const std::string& name) { name_ = name; };
 
   void deg()   {radian_ = false;};  //angles' unit to degree
   void rad()  {radian_ = true;};   //                radian
   void mode(const bool m) {radian_=m;} 
   double mode() const {return radian_;}
 
   void mat(a_mat_sq& r) const;
   void mat(const a_mat_sq& r);
   void R(a_mat_sq& r) const;
   void R(const a_mat_sq& r);
   void T(a_mat_c& t) const;
   void T(const a_mat_c& t);
 
   void reset(); 
   void translate(double, double, double); 
   void translate(const a_point& p) {this->translate(p.x(),p.y(),p.z());};
   void translateW(double, double, double); 
   void translateW(const a_point& p) {this->translateW(p.x(),p.y(),p.z());};
   void scale(double, double, double);  
   void scale(double);   //uniform scaling
   void rotateX(double); //rotate about the x local axis (in radian_ unit)
   void rotateY(double); //                 y
   void rotateZ(double); //                 z
   void rotateXW(double); //rotate about the x world axis (in radian_ unit)
   void rotateYW(double); //                 y
   void rotateZW(double); //                 z
   void orient(const a_mat_c& o, const a_mat_c& x, const a_mat_c& y);
   void orient(const a_point& o, const a_point& x, const a_point& y);
   /*  o : position of the new origin
       x : pt on the new x axis (x')
       y : pt in the x'y' plane & in the direction of positive y' 
     ! all positions in world coordinate */
   a_coord invert() const;
   a_point w2l(const a_point& pt) const; 
   a_point l2w(const a_point& pt) const; 
 
   //: input/output
   virtual void read(std::istream &i);
   virtual void write(std::ostream &o) const;
 
   static const double pi;
 
protected:
   std::string    name_;       //a reference name
   bool           radian_;     //unit for the angles
};
 
a_mat_c operator*(const a_coord& c, const a_mat_c& pt);
 
#endif