AxesMacro.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstUtil/TypeTraits.hpp"
#include "AstMath/KinematicRotation.hpp"
 
AST_NAMESPACE_BEGIN
 
class KinematicRotation;
class Rotation;
 
 
#define _AST_DECL_AXES(NAME) \
    class AST_CORE_API Axes##NAME : public Axes \
    { \
    public: \
        Axes##NAME() = default; \
        ~Axes##NAME() override = default; \
        static Axes##NAME* Instance(); \
        Axes* getParent() const override; \
        errc_t getTransform(const TimePoint& tp, Rotation& rotation) const override; \
        errc_t getTransform(const TimePoint& tp, KinematicRotation& rotation) const override; \
    };\
    A_ALWAYS_INLINE Axes* aAxes##NAME()\
    {\
        return Axes##NAME::Instance();\
    }\
 
#define _AST_IMPL_AXES_BASE(NAME, PARENT)\
    Axes##NAME* Axes##NAME::Instance() \
    { \
        static SharedPtr<Axes##NAME> instance(new Axes##NAME()); \
        return instance.get(); \
    }\
    Axes *Axes##NAME::getParent() const\
    {\
        return Axes##PARENT::Instance();\
    }\
 
#define _AST_IMPL_AXES_DYNAMIC(NAME, PARENT) \
    _AST_IMPL_AXES_BASE(NAME, PARENT)\
    errc_t Axes##NAME::getTransform(const TimePoint &tp, Rotation &rotation) const\
    {\
        a##PARENT##To##NAME##Transform(tp, rotation);\
        return eNoError;\
    }\
    errc_t Axes##NAME::getTransform(const TimePoint &tp, KinematicRotation &rotation) const\
    {\
        a##PARENT##To##NAME##Transform(tp, rotation);\
        return eNoError;\
    }\
 
#define _AST_IMPL_AXES_STATIC(NAME, PARENT) \
    _AST_IMPL_AXES_BASE(NAME, PARENT)\
    errc_t Axes##NAME::getTransform(const TimePoint &tp, Rotation &rotation) const\
    {\
        a##PARENT##To##NAME##Transform(rotation);\
        return eNoError;\
    }\
    errc_t Axes##NAME::getTransform(const TimePoint &tp, KinematicRotation &rotation) const\
    {\
        a##PARENT##To##NAME##Transform(rotation.getRotation());\
        rotation.setRotationRate(Vector3d::Zero());\
        return eNoError;\
    }\
 
#define _AST_IMPL_AXES_PSEUDO_STATIC(NAME, PARENT) \
    _AST_IMPL_AXES_BASE(NAME, PARENT)\
    errc_t Axes##NAME::getTransform(const TimePoint &tp, Rotation &rotation) const\
    {\
        a##PARENT##To##NAME##Transform(tp, rotation);\
        return eNoError;\
    }\
    errc_t Axes##NAME::getTransform(const TimePoint &tp, KinematicRotation &rotation) const\
    {\
        a##PARENT##To##NAME##Transform(tp, rotation.getRotation());\
        rotation.setRotationRate(Vector3d::Zero());\
        return eNoError;\
    }\
 
 
AST_NAMESPACE_END