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Frame.H

Go to the documentation of this file.

#ifndef _FRAME_H
#define _FRAME_H

#include <Transform.H>

namespace xchen
{
  struct Frame 
    {
    public:
        Frame(const dPoint3D&  p=dPoint3D(0.0), 
              const dVector3D& x=dVector3D(1,0,0), 
              const dVector3D& y=dVector3D(0,1,0), 
              const dVector3D& z=dVector3D(0,0,1))  : pos(p), f1(x), f2(y), f3(z)
        {
          Transform tran;
          tran.Translate(pos);
          tran.Rotate2Frame(*this);
          matrix = tran.GetMatrix()();
        }

        dPoint3D  pos;
        dVector3D f1;
        dVector3D f2;
        dVector3D f3;

        dVecOfVec44 matrix;                                   // transform matrix to this frame from canonical one.

        friend ostream& operator <<(ostream& os, const Frame& frm)
        {
          return
            os << "Frame at " << frm.pos << " with frame vectors: " << frm.f1 << '\t' << frm.f2 << '\t' << frm.f3;
        }
    };

}//end namespace xchen


#endif

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