/*******************************************************************************
 *  Transformation2D.h
 *
 *  (C) 2008 AG Aktives Sehen <agas@uni-koblenz.de>
 *           Universitaet Koblenz-Landau
 *
 * $Id: Transformation2D.h 44313 2011-04-06 22:46:28Z agas $
 *******************************************************************************/

#ifndef TRANSFORMATION2D_H
#define TRANSFORMATION2D_H

#include <cmath>
#include <vector>
//#include "Workers/Math/Vec.h"
#include "Point2D.h"
#include "Line2D.h"


/**
 * @class Transformation2D
 *
 * @author Susanne Maur
 *
 * @brief Class to describe a transformation of poses in 2D.
 * This inplies a translation in x and y direction each and a rotation.
 */
class Transformation2D : public CVec2
{

  public:

    /**
     * Constructor that initializes the members.
     * @param x translation in x direction in m
     * @param y translation in y direction in m
     * @param theta rotation in radiants
     */
    Transformation2D ( double x, double y, double theta );

    /**
     * Constructor that initializes the members.
     * @param vec a vector which represents the translation in x and y direction
     * @param theta rotation in radiants
     */
    Transformation2D ( const CVec2& vec, double theta );

    /**
     * Default constructor sets all members to 0.0.
     */
    Transformation2D();

    /**
     * Default destructor.
     */
    ~Transformation2D();

    /**
     * Sets the values of transformation.
     * @param x translation in x direction in mm
     * @param y translation in y direction in mm
     * @param theta rotation in radiants
     */
    void set ( double x, double y, double theta );

    /**
     * Returns the rotation in radiants.
     * @return rotation in radiants
     */
    double theta() const;

    /**
     * Adds two transformations.
     */
    Transformation2D operator+ ( Transformation2D t ) const;
    Transformation2D& operator+= ( Transformation2D t );

    /**
     * Subtracts two transformations.
     */
    Transformation2D operator- ( Transformation2D t ) const;
    Transformation2D& operator-= ( Transformation2D t );

    /**
     * Scales a transformation by a factor
     */
    Transformation2D operator* ( float factor ) const;
    Transformation2D& operator*= ( float factor );

    /**
     * Scales a transformation by a factor
     */
    Transformation2D operator/ ( float factor ) const;
    Transformation2D& operator/= ( float factor );

    /**
     * Test equality of transformations.
     */
    bool operator== ( Transformation2D t ) const;
    bool operator!= ( Transformation2D t ) const;

    /**
     * Compare transformations.
     * (attention: algebraic signs are taken into account, if necessary use fabs())
     */
    bool operator<= ( Transformation2D t ) const;
    bool operator>= ( Transformation2D t ) const;
    bool operator< ( Transformation2D t ) const;
    bool operator> ( Transformation2D t ) const;

    /**
     * Applies abs() on every attribute.
     */
    Transformation2D abs() const;

    /**
     * Inverts the transformation, scales every attribute with -1.
     */
    Transformation2D inverse() const;

    /**
     * Transformes points by first rotation, then translating.
     */
    Point2D transform ( const Point2D& point ) const;
    std::vector<Point2D> transform ( const std::vector<Point2D>& points ) const;

    /**
     * Transformes lines by first rotation, then translating.
     */
    Line2D transform ( const Line2D& line ) const;
    std::vector<Line2D> transform ( const std::vector<Line2D>& lines ) const;

    /**
     * Returns the string representation of the transformation.
     * @return string representation of the transformation.
     */
    std::string toString() const;

  private:
    double m_Theta;
};

#endif