MT_ExpMap.h

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/*
 * $Id: MT_ExpMap.h 35154 2011-02-25 11:43:19Z jesterking $
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Original author: Laurence
 * Contributor(s): Brecht
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef MT_ExpMap_H
#define MT_ExpMap_H

#include <MT_assert.h>

#include "MT_Vector3.h"
#include "MT_Quaternion.h"
#include "MT_Matrix4x4.h"

const MT_Scalar MT_EXPMAP_MINANGLE (1e-7);

class MT_ExpMap {
public:

    MT_ExpMap() {}
    MT_ExpMap(const MT_Vector3& v) : m_v(v) { angleUpdated(); }

    MT_ExpMap(const float v[3]) : m_v(v) { angleUpdated(); }
    MT_ExpMap(const double v[3]) : m_v(v) { angleUpdated(); }

    MT_ExpMap(MT_Scalar x, MT_Scalar y, MT_Scalar z) :
        m_v(x, y, z) { angleUpdated(); }

        MT_ExpMap(
                const MT_Quaternion &q
        ) {
                setRotation(q);
        };

        const 
                MT_Vector3 &
        vector(
        ) const {
                return m_v;
        };

                void
        setRotation(
                const MT_Quaternion &q
        );

                const MT_Quaternion&
        getRotation(
        ) const;

                MT_Matrix3x3
        getMatrix(
        ) const; 
        
                void
        update(
                const MT_Vector3& dv
        );

                void
        partialDerivatives(
                MT_Matrix3x3& dRdx,
                MT_Matrix3x3& dRdy,
                MT_Matrix3x3& dRdz
        ) const ;
        
private :

        // m_v contains the exponential map, the other variables are
        // cached for efficiency
        
        MT_Vector3 m_v;
        MT_Scalar m_theta, m_sinp;
        MT_Quaternion m_q;

        // private methods

        // Compute partial derivatives dR (3x3 rotation matrix) / dVi (EM vector)
        // given the partial derivative dQ (Quaternion) / dVi (ith element of EM vector)

                void
        compute_dRdVi(
                const MT_Quaternion &dQdV,
                MT_Matrix3x3 & dRdVi
        ) const;

        // compute partial derivatives dQ/dVi

                void
        compute_dQdVi(
                MT_Quaternion *dQdX
        ) const ; 

        // reparametrize away from singularity

                void
        reParametrize(
        );

        // (re-)compute cached variables

                void
        angleUpdated(
        );
};

#endif