CartesianValues.h

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/* ============================================================
 *
 * This file is a part of RCI project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <iostream>

#include <boost/shared_ptr.hpp>
#include <boost/math/quaternion.hpp>

#include "cca/dto/DataTransferObject.h"
#include "cca/dto/ContainingDoubles.h"

namespace rci {

class CartesianTranslational;
typedef boost::shared_ptr<CartesianTranslational> CartesianTranslationalPtr;
class CartesianRotational;
typedef boost::shared_ptr<CartesianRotational> CartesianRotationalPtr;
class CartesianValue;
typedef boost::shared_ptr<CartesianValue> CartesianValuePtr;

class CartesianTranslational: public cca::DataTransferObject,
        public cca::ContainingDoubles {

public:
    CartesianTranslational();
    CartesianTranslational(double valx, double valy, double valz);
    CartesianTranslational(const nemo::RealVector& values);
    CartesianTranslational(const CartesianTranslational& transl);
    CartesianTranslational(const CartesianTranslationalPtr& transl);
    virtual ~CartesianTranslational();

    virtual double x() const;

    virtual double y() const;

    virtual double z() const;

    virtual std::string print() const;
};

class CartesianRotational: public cca::DataTransferObject,
        public cca::ContainingDoubles {

public:
    CartesianRotational();
    CartesianRotational(double vala, double valb, double valc);
    CartesianRotational(double vala, double valb, double valc, double vald);
    CartesianRotational(const nemo::RealVector& values);
    CartesianRotational(const CartesianRotational& rot);
    CartesianRotational(const CartesianRotationalPtr& rot);
    CartesianRotational(const ::boost::math::quaternion<double> quaternion);
    CartesianRotational(double rxx, double rxy, double rxz, double ryx,
            double ryy, double ryz, double rzx, double rzy, double rzz);
    ~CartesianRotational();

    virtual double a() const;

    virtual double b() const;

    virtual double c() const;

    virtual double q0() const;

    virtual double q1() const;

    virtual double q2() const;

    virtual double q3() const;

    virtual nemo::RealVector asDoubleVector() const;

    virtual double asDouble(unsigned int index) const;

    virtual void setValue(double value);

    virtual void setValue(unsigned int index, double value);

    virtual ::boost::math::quaternion<double> asQuaternion() const;

    virtual nemo::RealVector asEulerAngles() const;

    virtual nemo::RealVector asAxisAngle() const;

    virtual nemo::RealVector asCompactAxisAngle() const;

    virtual std::string print() const;

protected:

    static double epsilon() {
        return 10e-7;
    }

    static double signum(double value) {
        if (value > 0)
            return 1;
        if (value < 0)
            return -1;
        return 0;
    }

    ::boost::math::quaternion<double> _quaternion;
};

class CartesianValue: public cca::DataTransferObject {

public:
    CartesianTranslational _transl;
    CartesianRotational _rot;

    CartesianValue();
    CartesianValue(double valx, double valy, double valz, double vala,
            double valb, double valc, double vald);
    CartesianValue(const nemo::RealVector& values);
    CartesianValue(const CartesianValue& val);
    CartesianValue(const CartesianTranslationalPtr& transl,
            const CartesianRotationalPtr& rot);
    virtual ~CartesianValue();

    virtual double asDouble(unsigned int index) const;

    virtual nemo::RealVector asDoubleVector() const;

    virtual void setValue(unsigned int index, double value);

    virtual double x() const;

    virtual double y() const;

    virtual double z() const;

    virtual double a() const;

    virtual double b() const;

    virtual double c() const;

    virtual double q0() const;

    virtual double q1() const;

    virtual double q2() const;

    virtual double q3() const;

    virtual unsigned int getDimension() const;
};

}