Frame.hpp

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#ifndef ORG_EEROS_MATH_FRAME_HPP_
#define ORG_EEROS_MATH_FRAME_HPP_

#include <eeros/math/Matrix.hpp>
#include <eeros/math/CoordinateSystem.hpp>
#include <list>

namespace eeros {
    namespace math {
        
        class Frame {
        public:
            Frame(const CoordinateSystem& a, const CoordinateSystem& b);
            Frame(const CoordinateSystem& a, const CoordinateSystem& b, const eeros::math::Matrix<4, 4, double>& T);
            Frame(const CoordinateSystem& a, const CoordinateSystem& b, const eeros::math::Matrix<3, 3, double>& R, const eeros::math::Matrix<3, 1, double>& r);
            virtual ~Frame();
            
            Frame operator*(const Frame& right) const;
            
            void set(const eeros::math::Matrix<4, 4, double>& T);
            void set(const eeros::math::Matrix<3, 3, double>& R, const eeros::math::Matrix<3, 1, double>& r);
            eeros::math::Matrix<4, 4, double> get() const;
            const CoordinateSystem& getFromCoordinateSystem() const;
            const CoordinateSystem& getToCoordinateSystem() const;
            
            static Frame* getFrame(const CoordinateSystem& a, const CoordinateSystem& b);
            static uint32_t getNofFrames();
            
        private:
            const CoordinateSystem& a;
            const CoordinateSystem& b;
            eeros::math::Matrix<4, 4, double> T;
            
            static std::list<Frame*> list;
        
        }; // END class Frame
    } // END namespace math
} // END namespache eeros

#endif /* ORG_EEROS_MATH_FRAME_HPP_ */