Orientation.h

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/*
 * LSST Data Management System
 * Copyright 2008, 2009, 2010, 2011, 2012, 2013, 2014 LSST Corporation.
 *
 * This product includes software developed by the
 * LSST Project (http://www.lsst.org/).
 *
 * 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 3 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 LSST License Statement and
 * the GNU General Public License along with this program.  If not,
 * see <http://www.lsstcorp.org/LegalNotices/>.
 */
 
#if !defined(LSST_AFW_CAMERAGEOM_ORIENTATION_H)
#define LSST_AFW_CAMERAGEOM_ORIENTATION_H
 
#include <string>
#include <cmath>
#include "Eigen/Dense"
#include "lsst/geom.h"
#include "lsst/afw/geom/Transform.h"
 
/*
 * Describe a Detector's orientation
 */
namespace lsst {
namespace afw {
namespace cameraGeom {

class Orientation final {
public:
    explicit Orientation(lsst::geom::Point3D const fpPosition = lsst::geom::Point3D(0, 0, 0),
                         lsst::geom::Point2D const refPoint = lsst::geom::Point2D(-0.5, -0.5),
                         lsst::geom::Angle const yaw =
                                 lsst::geom::Angle(0),  
                         lsst::geom::Angle const pitch = lsst::geom::Angle(
                                 0),  
                         lsst::geom::Angle const roll = lsst::geom::Angle(
                                 0)  
    );
 
 
    // Initialize with Point2D and default fpPosition_z=0.0
    explicit Orientation(lsst::geom::Point2D const fpPosition2,
                         lsst::geom::Point2D const refPoint = lsst::geom::Point2D(-0.5, -0.5),
                         lsst::geom::Angle const yaw = lsst::geom::Angle(0),
                         lsst::geom::Angle const pitch = lsst::geom::Angle(0),
                         lsst::geom::Angle const roll = lsst::geom::Angle(0)
    ) : Orientation(lsst::geom::Point3D(fpPosition2[0], fpPosition2[1], 0.0), refPoint, yaw, pitch, roll)
    {}
 
    ~Orientation() noexcept;
    Orientation(Orientation const &) noexcept;
    Orientation(Orientation &&) noexcept;
    Orientation &operator=(Orientation const &) noexcept;
    Orientation &operator=(Orientation &&) noexcept;

    lsst::geom::Point2D getFpPosition() const {
        return lsst::geom::Point2D(_fpPosition[0], _fpPosition[1]);
    }
 
    lsst::geom::Point3D getFpPosition3() const noexcept { return _fpPosition; }

    lsst::geom::Point2D getReferencePoint() const noexcept { return _refPoint; }
 
    double getHeight() const noexcept { return _fpPosition[2]; }

    lsst::geom::Angle getYaw() const noexcept { return _yaw; }

    lsst::geom::Angle getPitch() const noexcept { return _pitch; }

    lsst::geom::Angle getRoll() const noexcept { return _roll; }

    int getNQuarter() const noexcept;

    std::shared_ptr<geom::TransformPoint2ToPoint2> makePixelFpTransform(
            lsst::geom::Extent2D const pixelSizeMm  
            ) const;

    std::shared_ptr<geom::TransformPoint2ToPoint2> makeFpPixelTransform(
            lsst::geom::Extent2D const pixelSizeMm  
            ) const;
 
private:
    lsst::geom::Point3D _fpPosition;  
    lsst::geom::Point2D _refPoint;    
 
    lsst::geom::Angle _yaw;    
    lsst::geom::Angle _pitch;  
    lsst::geom::Angle _roll;   
 
    // Elements of the Jacobian for three space rotation projected into XY plane.
    // Turn off alignment since this is dynamically allocated (via Detector)
    Eigen::Matrix<double, 2, 2, Eigen::DontAlign> _rotMat;
};
}  // namespace cameraGeom
}  // namespace afw
}  // namespace lsst
 
#endif