MountingPars.hpp

#pragma once
 
#include "opals/config.hpp"
#include "opals/Array.hpp"
 
namespace opals {
 
  
  //=============================================================================
  /// \class  MountingPars
  /// Class describing the mounting calibration parameters 
  /// \author GM, AH
  /// \date   19.01.2011
  //=============================================================================
  class OPALS_API MountingPars
  {
  public:
    typedef opals::Array<double,3>    Vector3D;    ///< 3D-point coordinate array
    typedef opals::Array<double,9>    RotMat3D;    ///< 3D rotation matrix (3x3 elements
 
    enum ReferenceSys{
      global = 1,
      local };
 
    enum CosysAlignemnt{
      eCA_undef = 0,
      //
      eCA_frontRightDown,
      eCA_frontDownLeft,
      eCA_frontLeftUp,
      eCA_frontUpRight,
      //
      eCA_backRightUp,
      eCA_backDownRight,
      eCA_backLeftDown,
      eCA_backUpLeft,
      //
      eCA_leftUpFront,
      eCA_leftBackUp,
      eCA_leftDownBack,
      eCA_leftFrontDown,
      //
      eCA_rightFrontUp,
      eCA_rightUpBack,
      eCA_rightBackDown,
      eCA_rightDownFront,
      //
      eCA_upBackRight,
      eCA_upLeftBack,
      eCA_upFrontLeft,
      eCA_upRightFront,
      //
      eCA_downFrontRight,
      eCA_downBackLeft,
      eCA_downRightBack,
      eCA_downLeftFront
    };
 
  public:
    MountingPars();
    virtual ~MountingPars();
 
    /// \name time lag
    /// timeLag = t_trj - t_laser
    ///@{
    void setTimeLag( const double& dt ) { timeLag = dt; }
    double getTimeLag() const { return timeLag; }
    ///@}
 
    /// \name orientation of scanner system 
    ///@{
    void setScannerSys( const CosysAlignemnt& scnSys ) { scannerSys = scnSys; }
    CosysAlignemnt getScannerSys() const { return scannerSys; }
    ///@}
   
 
    /// \name shift vector (mounting)
    /// ... ...
    ///@{
    void setMountShift( const Vector3D& sft ) { mountShift = sft; }
    Vector3D getMountShift() const { return mountShift; }
    ///@}
 
    /// \name reference of shift vector (mounting)
    /// ... ...
    ///@{
    void  setRefMountShift( const unsigned& refSft ) { refMountSft = refSft; }
    unsigned getRefMountShift() const { return refMountSft; }
    ///@}
 
    /// \name Rotation matrix (mounting)
    /// ... ...
    ///@{
    void setMountRotation( const RotMat3D& rotmat ) { mountRotation = rotmat; }
    RotMat3D getMountRotation() const { return mountRotation; }
    ///@}
 
    /// \name shift vector (tilted mounting)
    /// ... ...
    ///@{
    void setTiltShift( const Vector3D& sft ) { tiltShift = sft; }
    Vector3D getTiltShift() const { return tiltShift; }
    ///@}
 
    /// \name reference of shift vector (tilted mounting)
    /// ... ...
    ///@{
    void  setRefTiltShift( const unsigned& refSft ) { refTiltSft = refSft; }
    unsigned getRefTiltShift() const { return refTiltSft; }
    ///@}
 
    /// \name Rotation matrix (tilted mounting)
    /// ... ...
    ///@{
    void setTiltRotation( const RotMat3D& rotmat ) { tiltRotation = rotmat; }
    RotMat3D getTiltRotation() const { return tiltRotation; }
    ///@}
 
 
    /// \name Query global transformation 
    /// ... ...
    ///@{
    void getGlobalTransformation( Vector3D& shift, RotMat3D& rotmat);
    ///@}
 
 
 
    private: 
      double    timeLag;
      unsigned  refMountSft, refTiltSft;
      CosysAlignemnt  scannerSys;
      Vector3D     mountShift, tiltShift;
      RotMat3D  mountRotation, tiltRotation;
  };
}