Vector2Corrector.hpp

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#ifndef ORG_EEROS_CONTROL_VECTOR2CORRECTOR_HPP_
#define ORG_EEROS_CONTROL_VECTOR2CORRECTOR_HPP_

#include <eeros/math/Matrix.hpp>
#include <vector>

namespace eeros {
    namespace control {
        
        class Vector2Corrector {
        public:
            virtual bool load(const char *filename);
            
            virtual int count();
            virtual eeros::math::Vector2 get(const eeros::math::Vector2 &in);
            
        protected:
            struct map {
                eeros::math::Vector2 Aref;          // triangle origin (of reference system)
                eeros::math::Matrix<2,2> Tiref;     // transformation: cartesian to triangle coordinates (of reference system)
                eeros::math::Vector2 Amapped;       // triangle origin (of mapped system)
                eeros::math::Matrix<2,2> Tmapped;   // transformation: triangle to cartesian coordinates (of mapped system)
            };
            std::vector<map> maps;
            std::vector<eeros::math::Vector2> mapped; // preallocated buffer
        };

    };
};

#endif /* ORG_EEROS_CONTROL_VECTOR2CORRECTOR_HPP_ */