a_pos.h

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/*
Copyright 2010-2019 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_POS_H_
#define _VE_POS_H_
 
#include "a_mat.h"
#include "a_point.h"
#include "a_quaternion.h"
 
// .NAME a_pos
// .SECTION Author
// Pierre Smars
 
#include <iostream>
 
class a_pos : public a_mat
{
public:
        inline a_pos() : a_mat(4,4) {for (int i = 0; i<4; i++) (*this)(i,i)=1; }
        a_pos(const a_mat& m);
        static const std::string help();
        a_pos & translate(double x, double y, double z);
        a_pos & translate(a_point t);
        a_pos & rotateX(double v);
        a_pos & rotateY(double v);
        a_pos & rotateZ(double v);
        a_pos & orient(a_point dir);
        a_pos & rotate(const a_quaternion & q);
};
 
#endif