point2d3d.hpp

/* $Id$ */

#ifndef LOCALIZER_POINT_2D_3D_HPP
#define LOCALIZER_POINT_2D_3D_HPP

#include "kernel/jafarException.hpp"
#include "jmath/jblas.hpp"

namespace jafar {

  namespace localizer {
    class Point2d3d {

      private:
      jblas::vec2 m_2dCoordinates;
      jblas::vec3 m_3dCoordinates;
      public:
      Point2d3d(const jblas::vec2& _2dCoordinates = jblas::zero_vec(2),
                const jblas::vec3& _3dCoordinates = jblas::zero_vec(3));
      Point2d3d(const double &u, const double &v, 
                const double &x, const double &y, const double &z)
      {
        m_2dCoordinates[0] = u;
        m_2dCoordinates[1] = v;
        m_3dCoordinates[0] = x;
        m_3dCoordinates[1] = y;
        m_3dCoordinates[2] = z;
      }
      Point2d3d(const Point2d3d& p);
      ~Point2d3d();

      /*getters*/
      const jblas::vec2& get2dCoordinates() const;
      const jblas::vec3& get3dCoordinates() const;
      double getU() const;
      double getV() const;
      double getX() const;
      double getY() const;
      double getZ() const;

      /*setters*/
      void set2dCoordinates(const jblas::vec2& _2dCoordinates);
      void set3dCoordinates(const jblas::vec3& _3dCoordinates);
      void setU(const double& value);
      void setV(const double& value);
      void setX(const double& value);
      void setY(const double& value);
      void setZ(const double& value);
      static Point2d3d toJafar(const Point2d3d& src);
      static Point2d3d toCalife(const Point2d3d& src);
      friend std::ostream& operator<<(std::ostream&, const Point2d3d&);
    };//class point2d3d

    typedef std::vector<localizer::Point2d3d> Points2d3d;
    typedef Points2d3d::iterator Points2d3dIter;
    typedef Points2d3d::const_iterator Points2d3dIter_const;
    std::ostream& operator<<(std::ostream& s, const localizer::Point2d3d& p);

    static void fromCalifeToJafar(const Points2d3d& src, Points2d3d& dst) {
      if(src.size() != dst.size())
        dst.resize(src.size());
      Points2d3dIter_const iter;
      for(iter = src.begin();
          iter != src.end();
          iter++) {
        Point2d3d jafarean = Point2d3d::toJafar(*iter);
        dst.push_back(jafarean);
      }
    }

    static void fromJafarToCalife(const Points2d3d& src, Points2d3d& dst) {
      if(src.size() != dst.size())
  dst.resize(src.size());
      Points2d3dIter_const iter;
      for(iter = src.begin();
          iter != src.end();
          iter++) {
        Point2d3d califean = Point2d3d::toCalife(*iter);
        dst.push_back(califean);
      }
    }

  }//namespace localizer

}//namespace jafar
#endif