DataGroupEuler.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstReport/DataGroupTimeVar.hpp"
#include "AstUtil/Span.hpp"
#include "AstCore/Axes.hpp"
#include "AstMath/Euler.hpp"
#include "AstMath/Quaternion.hpp"
#include "AstMath/Vector.hpp"
 
AST_NAMESPACE_BEGIN
 
void aQuatAngvelToEuler(const Quaternion& quat, const Vector3d& angvel, int seq, Euler& angles, Euler& rates);
 
 
class DataGroupEuler : public DataGroupTimeVar
{
public:
    struct Data
    {
        TimePoint time_;
        Euler     angles_;   
        Euler     rates_;    
 
        const TimePoint& getTime() const { return time_; }
 
        double getA() const { return angles_.angle1(); }
        double getB() const { return angles_.angle2(); }
        double getC() const { return angles_.angle3(); }
 
        double getADot() const { return rates_.angle1(); }
        double getBDot() const { return rates_.angle2(); }
        double getCDot() const { return rates_.angle3(); }
    };
    static DataElements Elements();
 
    DataGroupEuler() = default;
    ~DataGroupEuler() = default;
public:
    errc_t calculate(const TimeList& timeList, VariantVector& result) const override;
    const DataElements& getElements() const override;
public:
    errc_t calculate(const TimeList& timeList, std::vector<Data>& result) const;
    errc_t calculate(const TimeList& timeList, Span<Data> result) const;
public:
    Axes* getAxes() const { return axes_.get(); }
    Axes* getReferenceAxes() const { return referenceAxes_.get(); }
    void setAxes(Axes* a)          { axes_ = a; }
    void setReferenceAxes(Axes* a) { referenceAxes_ = a; }
 
    int  getRotationOrder() const { return rotationOrder_; }
    void setRotationOrder(int order) { rotationOrder_ = order; }
private:
    WeakPtr<Axes> axes_{};
    WeakPtr<Axes> referenceAxes_{};
    int rotationOrder_{Euler::eXYX};
};
 
 
AST_NAMESPACE_END