Axes.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstCore/Object.hpp"
#include "AstUtil/ObjectNamed.hpp"
 
AST_NAMESPACE_BEGIN
 
class Rotation;
class KinematicRotation;
class AccelerationRotation;
class Axes;
using PAxes = Axes*;
using HAxes = SharedPtr<Axes>;
 
AST_CORE_API errc_t aAxesTransform(Axes& source, Axes& target, const TimePoint& tp, Rotation& rotation);
AST_CORE_API errc_t aAxesTransform(Axes* source, Axes* target, const TimePoint& tp, Rotation& rotation);
 
 
AST_CORE_API errc_t aAxesTransform(Axes& source, Axes& target, const TimePoint& tp, Matrix3d& matrix);
AST_CORE_API errc_t aAxesTransform(Axes* source, Axes* target, const TimePoint& tp, Matrix3d& matrix);
 
 
AST_CORE_API errc_t aAxesTransform(Axes& source, Axes& target, const TimePoint& tp, KinematicRotation& rotation);
AST_CORE_API errc_t aAxesTransform(Axes* source, Axes* target, const TimePoint& tp, KinematicRotation& rotation);
 
 
AST_CORE_API errc_t aAxesTransform(Axes& source, Axes& target, const TimePoint& tp, AccelerationRotation& rotation);
AST_CORE_API errc_t aAxesTransform(Axes* source, Axes* target, const TimePoint& tp, AccelerationRotation& rotation);
 
 
class AST_CORE_API Axes : public ObjectNamed
{
public:
    AST_OBJECT(Axes)
    ~Axes() override = default;
    Axes() = default;
    
    A_DISABLE_COPY(Axes)
    
    
    virtual Axes* getParent() const = 0;
 
    virtual errc_t getTransform(const TimePoint& tp, Rotation& rotation) const = 0;
    
    virtual errc_t getTransform(const TimePoint& tp, KinematicRotation& rotation) const = 0;
 
    virtual errc_t getTransform(const TimePoint& tp, AccelerationRotation& rotation) const;
public:
    int getDepth() const;
 
    Axes* getAncestor(int depth) const;
 
public:
    A_ALWAYS_INLINE
    errc_t getTransformTo(Axes* target, const TimePoint& tp, Rotation& rotation) const
    {
        return aAxesTransform(const_cast<Axes*>(this), target, tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformTo(Axes& target, const TimePoint& tp, Rotation& rotation) const
    {
        return aAxesTransform(const_cast<Axes&>(*this), target, tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformTo(Axes* target, const TimePoint& tp, KinematicRotation& rotation) const
    {
        return aAxesTransform(const_cast<Axes*>(this), target, tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformTo(Axes& target, const TimePoint& tp, KinematicRotation& rotation) const
    {
        return aAxesTransform(const_cast<Axes&>(*this), target, tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformFrom(Axes* source, const TimePoint& tp, Rotation& rotation) const
    {
        return aAxesTransform(source, const_cast<Axes*>(this), tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformFrom(Axes& source, const TimePoint& tp, Rotation& rotation) const
    {
        return aAxesTransform(source, const_cast<Axes&>(*this), tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformFrom(Axes* source, const TimePoint& tp, KinematicRotation& rotation) const
    {
        return aAxesTransform(source, const_cast<Axes*>(this), tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformFrom(Axes& source, const TimePoint& tp, KinematicRotation& rotation) const
    {
        return aAxesTransform(source, const_cast<Axes&>(*this), tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformFrom(Axes* source, const TimePoint& tp, AccelerationRotation& rotation) const
    {
        return aAxesTransform(source, const_cast<Axes*>(this), tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformFrom(Axes& source, const TimePoint& tp, AccelerationRotation& rotation) const
    {
        return aAxesTransform(source, const_cast<Axes&>(*this), tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformFromParent(const TimePoint& tp, Rotation& rotation) const
    {
        return getTransform(tp, rotation);
    }
    A_ALWAYS_INLINE
    errc_t getTransformFromParent(const TimePoint& tp, KinematicRotation& rotation) const
    {
        return getTransform(tp, rotation);
    }
public:
    errc_t getAttitudeIn(Axes& axes, const TimePoint& tp, Quaternion& quat) const;
    A_ALWAYS_INLINE
    errc_t getAttitudeIn(Axes* axes, const TimePoint& tp, Quaternion& quat) const
    {
        if(axes == nullptr) return eErrorNullInput;
        return getAttitudeIn(*axes, tp, quat);
    }
 
    errc_t getAttitudeIn(Axes& axes, const TimePoint& tp, Quaternion& quat, Vector3d& angvel) const;
    A_ALWAYS_INLINE
    errc_t getAttitudeIn(Axes* axes, const TimePoint& tp, Quaternion& quat, Vector3d& angvel) const
    {
        if(axes == nullptr) return eErrorNullInput;
        return getAttitudeIn(*axes, tp, quat, angvel);
    }
};
 
 
AST_CORE_API errc_t aAxesRotationRateByDifference(Axes& axes, Axes& referenceAxes, const TimePoint& tp, Vector3d& angvel, double h = 0.05);
 
using PAxes = Axes*;                
using HAxes = SharedPtr<Axes>;      
 
AST_NAMESPACE_END