affinetransformation3d.h

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/*
 *  Non elastic AffineTransformation3d ( rotation + translation )
 */
#ifndef AIMS_TRANSFORMATION_AFFINETRANSFORMATION3D_H
#define AIMS_TRANSFORMATION_AFFINETRANSFORMATION3D_H

#include <aims/config/aimsdata_config.h>
#include <soma-io/transformation/affinetransformation3d_base.h>
#include <aims/data/data.h>
#include <iosfwd>

namespace aims
{
  class AffineTransformation3d;
  class PythonHeader;
  class Quaternion;

  void transformBoundingBox
      ( const AffineTransformation3d &AffineTransformation3d,
        const Point3df & pmin1, const Point3df & pmax1, Point3df & pmin2,
        Point3df & pmax2 );

  //---------------------------------------------------------------------------

    //--------------------------//
   //  AffineTransformation3d  //
  //--------------------------//
  //--------------------------------------------------------------------------
  class AffineTransformation3d : public soma::AffineTransformation3dBase
  {
  public:

    AffineTransformation3d();
    AffineTransformation3d( const AffineTransformation3d& other );
    AffineTransformation3d( const AffineTransformation3dBase& other );
    explicit AffineTransformation3d( const std::vector<float> & mat );
    explicit AffineTransformation3d( const carto::Object mat );
    AffineTransformation3d( const aims::Quaternion & quat );
    virtual ~AffineTransformation3d();
    virtual AffineTransformation3d &
    operator = ( const AffineTransformation3d& other );
    virtual AffineTransformation3d &
    operator = ( const std::vector<float> & mat );
    virtual AffineTransformation3d &
    operator = ( const carto::Object mat );
    virtual AffineTransformation3d &
    operator = ( const aims::Quaternion & quat );

    virtual bool operator == ( const AffineTransformation3d & ) const;
  virtual bool operator != ( const AffineTransformation3d & ) const;

    AffineTransformation3d &
    operator *= ( const AffineTransformation3dBase & trans );
    // AffineTransformation3d & operator += ( const AffineTransformation3d & trans );
    virtual AffineTransformation3d operator - () const;

    AffineTransformation3d inverse() const;
    std::unique_ptr<Transformation3d> getInverse() const CARTO_OVERRIDE;

    aims::PythonHeader* header() { return _header; }
    const aims::PythonHeader* header() const { return _header; }
    void setHeader( aims::PythonHeader* ph );

    inline Point3df translation();
    inline Point3df translation() const;

    inline AimsData<float> rotation();
    inline const AimsData<float> rotation() const;

    // get the matrix as a volume
    inline carto::VolumeRef<float> affine();
    inline const carto::VolumeRef<float> affine() const;

    virtual void setMatrix(const carto::VolumeRef<float> & mat);
    virtual void setMatrix(const AimsData<float> & mat);
    virtual void setRotationAffine( float rx, float ry, float rz,
                                    const Point3df &cg = Point3df( 0.0 )  );
    //virtual void setRotationVectorial( const Point3df& v1, const Point3df& v2 );

    static AimsData<float> rotationaroundx(float rx) ;
    static AimsData<float> rotationaroundy(float ry) ;
    static AimsData<float> rotationaroundz(float rz) ;


  protected:
    aims::PythonHeader  *_header;
  };

  // Compose AffineTransformation3d
  AffineTransformation3d
      operator * ( const AffineTransformation3d& affineTransformation3d1,
                   const AffineTransformation3d& affineTransformation3d2 );

  Point3df AffineTransformation3d::translation()
  {
    return Point3df( _matrix[12], _matrix[13], _matrix[14] );
  }

  Point3df AffineTransformation3d::translation() const
  {
    return Point3df( _matrix[12], _matrix[13], _matrix[14] );
  }

  AimsData<float> AffineTransformation3d::rotation()
  {
    // return a 3x3 view into the 4x4 matrix
    carto::VolumeRef<float> matrix(
      new carto::Volume<float>( 4, 4, 1, 1, &*_matrix.begin() ) );

    carto::VolumeRef<float> view(
      matrix, carto::Volume<float>::Position4Di( 0, 0, 0, 0 ),
      carto::Volume<float>::Position4Di( 3, 3, 1, 1 ) );

    return AimsData<float>( view );
  }

  const AimsData<float> AffineTransformation3d::rotation() const
  {
    // return a 3x3 view into the 4x4 matrix
    carto::VolumeRef<float> matrix(
      new carto::Volume<float>( 4, 4, 1, 1,
                                const_cast<float *>( &*_matrix.begin() ) ) );
    carto::VolumeRef<float> view(
      matrix, carto::Volume<float>::Position4Di( 0, 0, 0, 0 ),
      carto::Volume<float>::Position4Di( 3, 3, 1, 1 ) );

    return AimsData<float>( view );
  }

  carto::VolumeRef<float> AffineTransformation3d::affine()
  {
    carto::VolumeRef<float> matrix(
      new carto::Volume<float>( 4, 4, 1, 1, &*_matrix.begin() ) );
    return matrix;
  }

  const carto::VolumeRef<float> AffineTransformation3d::affine() const
  {
    carto::VolumeRef<float> matrix(
      new carto::Volume<float>( 4, 4, 1, 1,
                                const_cast<float *>( &*_matrix.begin() ) ) );
    return matrix;
  }

}




#ifndef DOXYGEN_HIDE_INTERNAL_CLASSES

namespace carto
{

  template <> class DataTypeCode< aims::AffineTransformation3d >
  {
  public:
    static std::string objectType()
    { return "AffineTransformation3d"; }
    static std::string dataType()
    { return "VOID"; }
    static std::string name()
    {
      return "AffineTransformation3d";
    }
  };

}

#endif // DOXYGEN_HIDE_INTERNAL_CLASSES

#endif