CoordinateSystemTrafo.cpp

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#include "Algorithms/CoordinateSystemTrafo.h"
#include "Utility/Inform.h"
 
extern Inform *gmsg;
 
CoordinateSystemTrafo::CoordinateSystemTrafo():
    origin_m(0.0),
    orientation_m(1.0, 0.0, 0.0, 0.0),
    rotationMatrix_m(3,3)
{ 
   rotationMatrix_m(0,0) = 1.0;
   rotationMatrix_m(0,1) = 0.0;
   rotationMatrix_m(0,2) = 0.0;
   rotationMatrix_m(1,0) = 0.0;
   rotationMatrix_m(1,1) = 1.0;
   rotationMatrix_m(1,2) = 0.0;
   rotationMatrix_m(2,0) = 0.0;
   rotationMatrix_m(2,1) = 0.0;
   rotationMatrix_m(2,2) = 1.0;
}
 
CoordinateSystemTrafo::CoordinateSystemTrafo(const CoordinateSystemTrafo &right):
    origin_m(right.origin_m),
    orientation_m(right.orientation_m),
    rotationMatrix_m(right.rotationMatrix_m)
{ }
 
CoordinateSystemTrafo::CoordinateSystemTrafo(const Vector_t &origin,
                                             const Quaternion &orientation):
    origin_m(origin),
    orientation_m(orientation),
    rotationMatrix_m(orientation_m.getRotationMatrix())
{ }
 
void CoordinateSystemTrafo::invert() {
    origin_m = -orientation_m.rotate(origin_m);
    orientation_m = orientation_m.conjugate();
    //rotationMatrix_m = transpose(rotationMatrix_m);
    rotationMatrix_m = boost::numeric::ublas::trans(rotationMatrix_m);
}
 
CoordinateSystemTrafo CoordinateSystemTrafo::operator*(const CoordinateSystemTrafo &right) const {
    CoordinateSystemTrafo result(*this);
 
    result *= right;
    return result;
}
 
void CoordinateSystemTrafo::operator*=(const CoordinateSystemTrafo &right) {
    origin_m = right.orientation_m.conjugate().rotate(origin_m) + right.origin_m;
    orientation_m *= right.orientation_m;
    orientation_m.normalize();
    rotationMatrix_m = orientation_m.getRotationMatrix();
}