Repere.hpp

/* $Id$ */

#ifndef _GEOM_REPERE_HPP_
#define _GEOM_REPERE_HPP_

#include <geom/Atom.hpp>
#include <geom/Distance.hpp>

namespace jafar {
  namespace geom {
    template<int dimension>
    class Repere : public Atom<dimension> {
        typedef boost::numeric::ublas::bounded_vector<double,dimension + 1> HomogenousVecD;
        typedef boost::numeric::ublas::bounded_vector<double,dimension> VecD;
        typedef boost::numeric::ublas::bounded_matrix<double,dimension + 1 ,dimension + 1> MatrixD;
      public:
        class Driver  : public Atom<dimension>::Driver  {
          public:
            inline Driver() : Atom<dimension>::Driver( ) {}
            virtual ~Driver() {}
            virtual const Repere<dimension>* reference() const = 0;
            virtual HomogenousVecD origin() const = 0;
            virtual HomogenousVecD vec(unsigned int index) const = 0;
            virtual void localToReference(MatrixD&) const = 0;
        };
        class VectorsDriver : public Driver{
          public:
            VectorsDriver(const Repere<dimension>* ref);
            VectorsDriver(const Repere<dimension>* ref, const HomogenousVecD* repere, const HomogenousVecD& origin);
            virtual const Repere<dimension>* reference() const;
            virtual HomogenousVecD origin() const;
            virtual HomogenousVecD vec(unsigned int index) const;
            virtual void localToReference(MatrixD&) const;
            virtual bool hasCov() const { return false; }
          private:
            const Repere<dimension>* m_reference;
            MatrixD m_matrix;
        };
      private:
        Repere( );
      public:
        Repere(Driver* driver);
        virtual ~Repere();
        virtual typename Atom<dimension>::Type type() const { return Atom<dimension>::T_Repere; }
        virtual BoundingBox<dimension> boundingBox() const;
      public:
        const Repere<dimension>* reference() const;
        inline HomogenousVecD origin() const;
        inline HomogenousVecD vec(unsigned int index) const;
        inline HomogenousVecD convertIn( const HomogenousVecD& v, const Repere* dstRepere) const;
        inline HomogenousVecD convertInGlobal( const HomogenousVecD& v) const;
        inline void localToReference(MatrixD&) const;
        inline void referenceToLocal(MatrixD&) const;
        inline void localToGlobal(typename Repere<dimension>::MatrixD& dst) const;
        inline void globalToLocal(typename Repere<dimension>::MatrixD& dst) const;
        inline void localToRepere(typename Repere<dimension>::MatrixD& dst, const Repere* r) const;
        inline void repereToLocal(typename Repere<dimension>::MatrixD& dst, const Repere* r) const;
      public:
        static inline const Repere<dimension>* global();
      public:
        GEN_DISTANCE_FUNCTIONS
        GEN_ANGLE_FUNCTIONS
        GEN_VISITOR_FUNCTIONS
      private:
        static Repere<dimension>* s_globalRef;
        Driver* m_driver;
    };
    typedef Repere<3> Repere3D;
  }
}

#include "RepereImpl.hpp"

#endif