TransformerConstructor.cc

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#include <utl/TransformerConstructor.h>
#include <utl/CoordinateSystem.h>
#include <utl/Transformation.h>
#include <utl/Point.h>
#include <utl/Vector.h>
#include <utl/TransformationMatrix.h>
#include <boost/tuple/tuple.hpp>

using namespace utl;


template<typename Policy>
TransformerConstructor<Policy>::
TransformerConstructor(const TransformationMatrix& theTransformation,
                       const CoordinateSystemPtr& theCS)
  : Policy(theTransformation, theCS)
{
}


template<typename Policy>
TransformerConstructor<Policy>::~TransformerConstructor()
{
}


/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 * Factory functions
 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */

template<typename Policy>
typename Policy::type
TransformerConstructor<Policy>::
FromTransformation(const TransformationMatrix& theTrafo,
                   const CoordinateSystemPtr& theCS)
{
  return Policy::FromTransformation(theTrafo, theCS);
}


template<typename Policy>
typename Policy::type
TransformerConstructor<Policy>::
Translation(const Vector& theTranslation,
            const CoordinateSystemPtr& theCS)
{
  double x, y, z;
  boost::tie(x, y, z) = theTranslation.GetCoordinates(theCS);
  TransformationMatrix t(TransformationMatrix::Translation(x, y, z));

  return Policy::FromTransformation(t, theCS);
}


template<typename Policy>
typename Policy::type
TransformerConstructor<Policy>::
Rotation(const double angle,
         const Vector& theAxis,
         const CoordinateSystemPtr& theCS)
{
  double x, y, z;
  boost::tie(x, y, z) = theAxis.GetCoordinates(theCS);
  TransformationMatrix t(TransformationMatrix::Rotation(angle, x, y, z));

  return Policy::FromTransformation(t, theCS);
}


template<typename Policy>
typename Policy::type
TransformerConstructor<Policy>::
RotationX(const double angle, const CoordinateSystemPtr& theCS)
{
  TransformationMatrix t(TransformationMatrix::RotationX(angle));

  return Policy::FromTransformation(t, theCS);
}


template<typename Policy>
typename Policy::type
TransformerConstructor<Policy>::
RotationY(const double angle, const CoordinateSystemPtr& theCS)
{
  TransformationMatrix t(TransformationMatrix::RotationY(angle));

  return Policy::FromTransformation(t, theCS);
}


template<typename Policy>
typename Policy::type
TransformerConstructor<Policy>::
RotationZ(const double angle, const CoordinateSystemPtr& theCS)
{
  TransformationMatrix t(TransformationMatrix::RotationZ(angle));

  return Policy::FromTransformation(t, theCS);
}


/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 * Template instantiations
 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */

namespace utl {
  template class TransformerConstructor<utl::DerivedCSPolicy>;
  template class TransformerConstructor<utl::BaseCSPolicy>;
  template class TransformerConstructor<utl::TransformationPolicy>;
};

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