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/afw/geom.h"
#include "lsst/afw/image/Utils.h"

namespace lsst {
namespace afw {
namespace cameraGeom {

class Orientation {
public:
    explicit Orientation(
        geom::Point2D const fpPosition=geom::Point2D(0, 0),
        geom::Point2D const refPoint=geom::Point2D(-0.5, -0.5),
        geom::Angle const yaw=geom::Angle(0),   
        geom::Angle const pitch=geom::Angle(0),  
        geom::Angle const roll=geom::Angle(0)  
    );

    geom::Point2D getFpPosition() const { return _fpPosition; }

    geom::Point2D getReferencePoint() const { return _refPoint; }

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

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

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

    int getNQuarter() const;

    geom::AffineXYTransform makePixelFpTransform(
            geom::Extent2D const pixelSizeMm 
    ) const;

    geom::AffineXYTransform makeFpPixelTransform(
            geom::Extent2D const pixelSizeMm 
    ) const;

private:
    geom::Point2D _fpPosition;          
    geom::Point2D _refPoint;            

    lsst::afw::geom::Angle _yaw;        
    lsst::afw::geom::Angle _pitch;      
    lsst::afw::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;
};

}}}

#endif