JCompass.hh

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#ifndef __JDETECTOR__JCOMPASS__
#define __JDETECTOR__JCOMPASS__
 
#include <istream>
#include <ostream>
 
#include "JTools/JConstants.hh"
#include "JIO/JSerialisable.hh"
#include "JMath/JMath.hh"
 
 
/**
 * \author mdejong
 */
 
namespace JDETECTOR {}
namespace JPP { using namespace JDETECTOR; }
 
namespace JDETECTOR {
 
  using JTOOLS::PI;
  using JIO::JReader;
  using JIO::JWriter;
 
 
  /**
   * Data structure for comapss in three dimensions.
   *
   * This class implements the JMATH::JMath interface.
   */
  class JCompass :
    public JMATH::JMath<JCompass>
  {
  public:
    /**
     * Default constructor.
     */
    JCompass() :
      __pitch(0.0),
      __roll (0.0),
      __yaw  (0.0)
    {}
 
 
    /**
     * Constructor.
     *
     * \param  pitch    pitch angle [rad]
     * \param  roll     roll  angle [rad]
     * \param  yaw      yaw   angle [rad]
     */
    JCompass(const double pitch,
             const double roll,
             const double yaw) :
      __pitch(pitch),
      __roll (roll),
      __yaw  (yaw)
    {}
 
 
    /**
     * Get compass.
     *
     * \return          this compass
     */
    const JCompass& getCompass() const
    {
      return static_cast<const JCompass&>(*this);
    }
 
 
    /**
     * Set compass.
     *
     * \param  compass  compass
     */
    void setCompass(const JCompass& compass)
    {
      static_cast<JCompass&>(*this) = compass;
    }
 
 
    /**
     * Negate compass.
     *
     * \return          this compass
     */
    JCompass& negate()
    {
      __pitch = -__pitch;
      __roll  = -__roll;
      __yaw   = -__yaw;
 
      return *this;
    }
 
 
    /**
     * Add compass.
     *
     * \param  compass    compass
     * \return          this compass
     */
    JCompass& add(const JCompass& compass)
    {
      __pitch += compass.getPitch();
      __roll  += compass.getRoll();
      __yaw   += compass.getYaw();
 
      return *this;
    }
 
 
    /**
     * Subtract compass.
     *
     * \param  compass    compass
     * \return          this compass
     */
    JCompass& sub(const JCompass& compass)
    {
      __pitch -= compass.getPitch();
      __roll  -= compass.getRoll();
      __yaw   -= compass.getYaw();
 
      return *this;
    }
 
 
    /**
     * Scale compass.
     *
     * \param  factor   multiplication factor
     * \return          this compass
     */
    JCompass& mul(const double factor)
    {
      __pitch *= factor;
      __roll  *= factor;
      __yaw   *= factor;
 
      return *this;
    }
 
 
    /**
     * Scale compass.
     *
     * \param  factor   division factor
     * \return          this compass
     */
    JCompass& div(const double factor)
    {
      __pitch /= factor;
      __roll  /= factor;
      __yaw   /= factor;
 
      return *this;
    }
 
 
    /**
     * Get pitch compass.
     *
     * \return          pitch compass
     */
    double getPitch() const 
    { 
      return __pitch;
    }
 
 
    /**
     * Get roll compass.
     *
     * \return          roll compass
     */
    double getRoll() const
    { 
      return __roll;
    }
 
 
    /**
     * Get yaw compass.
     *
     * \return          yaw compass
     */
    double getYaw() const 
    { 
      return __yaw;
    }
 
 
    /**
     * Read compasss from input.
     *
     * \param  in            input stream
     * \param  compass       compasss
     * \return               input stream
     */
    friend inline std::istream& operator>>(std::istream& in, JCompass& compass)
    {
      in >> compass.__pitch  >> compass.__roll  >> compass.__yaw;
 
      return in;
    }
 
 
    /**
     * Write compasss to output.
     *
     * \param  out           output stream
     * \param  compass       compass
     * \return               output stream
     */
    friend inline std::ostream& operator<<(std::ostream& out, const JCompass& compass)
    {
      out << compass.getPitch()  << ' ' << compass.getRoll()  << ' ' << compass.getYaw();
 
      return out;
    }
 
 
    /**
     * Read compasss from input.
     *
     * \param  in         reader
     * \param  compass    compasss
     * \return            reader
     */
    friend inline JReader& operator>>(JReader& in, JCompass& compass)
    {
      in >> compass.__pitch;
      in >> compass.__roll;
      in >> compass.__yaw;
 
      return in;
    }
 
 
    /**
     * Write compasss to output.
     *
     * \param  out        writer
     * \param  compass    compasss
     * \return            writer
     */
    friend inline JWriter& operator<<(JWriter& out, const JCompass& compass)
    {
      out << compass.__pitch;
      out << compass.__roll;
      out << compass.__yaw;
 
      return out;
    }
 
 
  protected:
    double __pitch;
    double __roll;
    double __yaw;
  };
}
 
#endif