vos/corelibs/tracking/orientation.hh

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/*
    This file is part of the Virtual Object System of
    the Interreality project (http://interreality.org).

    Copyright (C) 2001, 2002 Peter Amstutz

    This software was written at the University of Massachusetts with
    support from NSF grant #EIA 9703217

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307  USA

    Peter Amstutz <tetron@interreality.org>
*/

#ifndef _ORIENTATION_HH_
#define _ORIENTATION_HH_

#include "tracker.hh"


/** This class provides an interface for orientation information */
class Orientation : public Tracker
{   
protected:
    double eulerYawOffset;
    double eulerPitchOffset;
    double eulerRollOffset;
    
public:
    /** Constructor */
    Orientation() : Tracker(), eulerYawOffset(0), eulerPitchOffset(0), eulerRollOffset(0) {}

    /** Get an orientaiton matrix [x1 x2 x3][y1 y2 y3][z1 z2 z3] */
    virtual void getOrientationMatrix(double mat[3][3]) = 0;

    /** Get yaw, pitch and roll Euler angles */
    virtual void getEulerAngles(double* yaw, double* pitch, double* roll) = 0;

    /** Set euler offsets */
    virtual void setOffsets(double yaw, double pitch, double roll) {
        eulerYawOffset = yaw;
        eulerPitchOffset = pitch;
        eulerRollOffset = roll;
    }
        
        
};


#endif

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