TransformationMatrix.h

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#ifndef _utl_TransformationMatrix_h_
#define _utl_TransformationMatrix_h_

#include <CLHEP/Geometry/Transform3D.h>
#include <CLHEP/Geometry/Point3D.h>
#include <boost/operators.hpp>
#include <boost/tuple/tuple.hpp>
#include <utl/unconfig.h>
#include <utl/config.h>
#include <iostream>

namespace io {
  class CoordinateSystem_ROOT;
}

namespace utl {

  class TransformationMatrix : public boost::multipliable<TransformationMatrix> {

  public:
    typedef boost::tuple<double, double, double> Triple;

    static const int kDimension = 4;

    TransformationMatrix() { }

    TransformationMatrix& operator*=(const TransformationMatrix& second);

    TransformationMatrix Inverse() const;

    double Distance(const TransformationMatrix& second) const;

    boost::tuple<TransformationMatrix, TransformationMatrix> Decompose() const;

    // Extra factory functions - all static
    static TransformationMatrix Translation(const double x, const double y, const double z);

    static TransformationMatrix Rotation(const double angle,
                                         const double x, const double y, const double z);
    static TransformationMatrix Rotation(const double angle, const Triple& v);
    static TransformationMatrix RotationX(const double angle);
    static TransformationMatrix RotationY(const double angle);
    static TransformationMatrix RotationZ(const double angle);

    static
    TransformationMatrix
    TransformToBasis(const double x1, const double y1, const double z1,
                     const double x2, const double y2, const double z2,
                     const double x3, const double y3, const double z3);

  private:
    typedef HepGeom::Transform3D InternalTransform;

    TransformationMatrix(const InternalTransform& transform)
      : fTransform(transform) { }


    InternalTransform fTransform;

    template<class Vector> friend class BasicVector;
    friend class TransformationPolicy;
    friend std::ostream& operator<<(std::ostream& s, const TransformationMatrix& m);
    friend class io::CoordinateSystem_ROOT;

  };


  std::ostream& operator<<(std::ostream&s, const TransformationMatrix& m);

} // utl


#endif // _utl_TransformationMatrix_h_

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