placement.h

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/*
 * placement.h
 *
 * Copyright (C) 2009  Thomas A. Vaughan
 * All rights reserved.
 *
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the <organization> nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THOMAS A. VAUGHAN ''AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THOMAS A. VAUGHAN BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 *
 * Simple placement object.
 */

#ifndef WAVEPACKET_PLACEMENT_H__
#define WAVEPACKET_PLACEMENT_H__

// includes --------------------------------------------------------------------
#include "quaternion.h"


/// \ingroup geometry
/*@{*/


/// A placement describes a 3D location and orientation.
struct placement_t {
        // constructor, manipulators
        placement_t(void) throw() { this->clear(); }
        void clear(void) throw() {
                        position.clear();
                        rotation.clear();
                }
        void dump(IN const char * title) const throw() {
                        DPRINTF("Placement (%s)", title);
                        position.dump("  position");
                        rotation.dump("  rotation");
                }

        // data fields
        point3d_t       position;       ///< position in map coordinates
        quaternion_t    rotation;       ///< quaternion rotation
};


/// read a placement_t object from the stream
placement_t parsePlacement(IO std::istream& stream);


#endif  // WAVEPACKET_PLACEMENT_H__