a_twist.h

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/*
Copyright 2010-2014 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 _A_TWIST_H_
#define _A_TWIST_H_
 
#include <iostream>
#include "a_plucker.h"
#include "a_quaternion.h"
#include "a_mat_sq.h"
 
class a_twist : public a_plucker
{
public:
        void set(const a_point& p, a_point d, double t, double r);
        void set(double x, double y, double z, double dx, double dy, double dz, double t, double r=0.);
        a_twist();
        a_twist(const a_plucker& m) : a_plucker(m) {};
        a_twist(const a_point& p, a_point d, double t, double r);
        a_twist(double x, double y, double z, double dx, double dy, double dz, double t, double r=0.);
        ~a_twist() {};
        std::string name() const {return "a_twist";}
        static const std::string help();
        inline double dx() const {return p2_.x();}
        inline double dy() const {return p2_.y();}
        inline double dz() const {return p2_.z();}
        inline double rx() const {return p1_.x();}
        inline double ry() const {return p1_.y();}
        inline double rz() const {return p1_.z();}
        inline double d() const {return p2_.norm();}
        inline double r() const {return p1_.norm();}
 
        void reset();
        a_quaternion quaternion() const;
        void quaternion(a_quaternion q);
        a_mat_sq matrix() const;
        void matrix(const a_mat_sq& mat);
        void translate(const a_point& d);
        void translate(const double& x, const double& y, const double& z) {this->translate(a_point(x,y,z));}
        void rotate(const a_point& pt, const a_point& dir, double v);
        a_point operator* (a_point p) const;
 
// protected:
};
 
a_point operator* (a_point p, const a_twist& t);
 
#endif