---

Xform.h

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//
//    Title     : Xform.h
//    Project     : OSCAR Version 2.0
//    Created     : 1/12/1996
//      Author          : Chetan Kapoor
//      Platforms       : All
//      Copyright       : Copyright The University of Texas at Austin, 2002. All rights reserved.
//
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//
//    Purpose     : Definition of a 4 by 4 homogeneous transformation matrix.
//
//-----------------------------------------------------------------------------
//
//
//    $Revisions$
//      Troy Harden 6-19-98 added XformToForceXform(Matrix& _forceXform) function
//      Troy Harden 7-1-98 added HandPose ToHandPose() function
//
//    $Log: Xform.h,v $
//    Revision 1.15  2006/08/29 02:00:34  chetan
//    Added Normalize method
//
//    Revision 1.14  2005/05/10 14:54:33  josh
//    Added method to check validity of rotation matrices. Also added invalidRotationMatrix error.
//
//    Revision 1.13  2005/03/14 22:04:31  pmarch
//    Added to namespace OSCAR and removed "RR" from front of class names.
//
//    Revision 1.12  2005/01/21 20:24:28  chetan
//    Made Xform(bool , String) constructor explicit
//
//    Revision 1.11  2005/01/06 20:46:49  chetan
//    Added Thread Local Storage to static variables
//
//    Revision 1.10  2004/07/19 20:03:19  djung
//    DUMMY_ERROR fix fix
//
//    Revision 1.9  2004/07/19 16:37:00  edjung
//    -made fix to constructors for ANSI C++ compliance with temporary OSCARError objects
//    -added DUMMY_ERROR class
//
//    Revision 1.8  2004/05/26 20:01:52  pmarch
//    Added /defgroup and /ingroup tags.
//
//    Revision 1.7  2004/01/26 20:54:31  pmarch
//    Fixed documentation errors as reported by Doxygen.
//
//    Revision 1.6  2003/10/06 09:18:03  edjung
//    -Changed constructor to String() from String("")
//
//    Revision 1.5  2003/09/09 17:13:02  eswint
//    - Changed #include "Math/..." to #include "..."
//
//    Revision 1.4  2003/09/04 22:48:49  eswint
//    - Changed default arguments: OSCARError(0,"No Error"...) to OSCARError(noError) and String(" ") to String("")
//
//    Revision 1.3  2003/09/02 20:50:32  eswint
//    no message
//
//    Revision 1.2  2003/08/28 20:40:04  eswint
//    - Added default constructor argument bool initMtx = true
//
//    Revision 1.1  2003/08/18 15:23:18  eswint
//    Initial Commit
//
//
#ifndef Xform_hpp
#define Xform_hpp

#include "HandPose.h"
#include "FixedSizeMatrix.h"
#include "Orientation.h"
#include "Rot3by3.h"
#include "SpatialXform.h"
#include "Vector3.h"

namespace OSCAR {

  class Xform : public FixedSizeMatrix<4,4>
  {
  public:

    Xform();

    explicit Xform(bool identityMtx, const String& name=String());

    explicit Xform(const double* f, const String& name=String());

    explicit Xform(const Vector& v,OSCARError &err = DUMMY_ERROR(noError), const String& name = String());

    Xform(const Xform& rhs);

    Xform(const Matrix& rhs);

    virtual ~Xform();

    bool Get(Vector3& position) const;

    bool Get(Orientation& orientation) const;

    bool Get(Rot3by3& rotation) const;

    bool Get(SpatialXform& spatial) const;

    bool Get(HandPose& hp) const;

    bool Get(Vector3& axis, double& angle, AngleUnits angUnits = Radians) const;

    bool Get(Quaternion& quat) const;

    bool Set(const Vector3& position);

    bool Set(const Orientation& orientation);

    bool Set(const Rot3by3& rotation);

    bool Set(const SpatialXform& spatial);

    bool Set(const HandPose& hp);

    bool Set(const Vector3& axis, double angle, AngleUnits angUnits = Radians);

    bool Set(const Quaternion& quat);

    bool ToPumaOAT(HandPose& endLocation) const;

    Xform& operator=(const Xform& rhs);

    Xform& operator=(const Matrix& rhs);

    Xform operator*(const Xform& m) const;

    void Multiply(const Xform& m, Xform& result) const;

    virtual bool Inverse(Xform& inverse) const;

    Xform Inverse(void) const;

    bool XformToForceXform(Matrix& forceXform);

    Matrix XformToForceXform();

    bool Identity();

                bool IsValid() const;

                bool Normalize();

  };

  #include "Xform.ipp"

}

#endif /* Xform_hpp */

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