Rotation2d.h

// Rotation2d.h:
// -------------
//

#ifndef __IPSDKMATH_ROTATION2D_H__
#define __IPSDKMATH_ROTATION2D_H__

// suppression warnings
// warning C4251: 'ipsdk::math::transform::Rotation2d::g_registrator' : struct 'ipsdk::math::transform::Registrator<ipsdk::math::transform::Rotation2d>' needs to have dll-interface to be used by clients of class 'ipsdk::math::transform::Rotation2d'
#pragma warning (push)
#pragma warning (disable : 4251)

#include <IPSDKMath/Geometry/2d/Transform/BaseLinearGeometricTransform2d.h>
#include <IPSDKMath/Geometry/2d/Angles2d.h>

namespace ipsdk {
namespace math {
namespace transform {


class IPSDKMATH_API Rotation2d : public BaseLinearGeometricTransform2d
{
// predefined public type
public:
    IPSDK_ENUM(eTransformParams,

        (eTP_Theta)     
    );

    // declare geometric transformation 2d
    IPSDK_DECLARE_TRANSFORM2D(Rotation2d);

public:
    Rotation2d()
    {
        setParams(0);
    }
    Rotation2d(const ipReal64 theta)
    {
        setParams(theta);
    }
    ~Rotation2d() {}

// methods
public:
    static void             transform(const ipReal64 theta,
                                      ipReal64& x, ipReal64& y)
    {
        transform(std::cos(theta), std::sin(theta), x, y);
    }
    static void             transform(const ipReal64 cosTheta, const ipReal64 sinTheta,
                                      ipReal64& x, ipReal64& y)
    {
        rotate2dInSitu(cosTheta, sinTheta, x, y);
    }

    static Matrix3d         getHomogenousMatrix(const ipReal64 theta)
    {
        return getHomogenousMatrix(std::cos(theta), std::sin(theta));
    }
    static Matrix3d         getHomogenousMatrix(const ipReal64 cosTheta, const ipReal64 sinTheta)
    {
        Matrix3d transform;
        angleToMatrix(cosTheta, sinTheta,
                      transform(0, 0), transform(0, 1),
                      transform(1, 0), transform(1, 1));
        transform(0, 2) = 0;
        transform(1, 2) = 0;
        transform(2, 0) = 0; transform(2, 1) = 0; transform(2, 2) = 1;

        return transform;
    }

    static Matrix3d         getInvHomogenousMatrix(const ipReal64 theta)
    {
        return getHomogenousMatrix(-theta);
    }

    static void             getInvParams(ipReal64& theta)
    {
        theta = -theta;
    }

    static Vector           getIdentityParams();

    void                    setParams(const ipReal64 theta)
    {
        _theta = theta;
        _cosTheta = std::cos(_theta);
        _sinTheta = std::sin(_theta);
    }

    void                    setParams(const Vector& params);

    void                    setIdentity();

    void                    apply(ipReal64& x, ipReal64& y) const;

    Matrix3d                getHomogenousMatrix() const;

    Vector                  getParams() const;

    ipReal64                getTheta() const;

    Matrix3d                getInvHomogenousMatrix() const;

    Vector                  getInvParams() const;

// attributes
protected:
    ipReal64        _theta;

    ipReal64        _cosTheta;
    ipReal64        _sinTheta;
};


inline ipReal64
Rotation2d::getTheta() const
{
    return _theta;
}

inline void
Rotation2d::setIdentity()
{
    setParams(getIdentityParams());
}


} // end of namespace transform
} // end of namespace math
} // end of namespace ipsdk

#pragma warning (pop)

#endif // __IPSDKMATH_ROTATION2D_H__