EulerAngles.h

//-*- C++ -*-
//-*- coding: utf-8 -*-
//
// Author: Bryan V. Riel
// Copyright 2018
//

#pragma once

#include "forward.h"

#include "Attitude.h"

class isce3::core::EulerAngles : public isce3::core::Attitude {

    public:
        EulerAngles(const std::string yaw_orientation="normal");

        EulerAngles(const std::vector<double> & time,
                    const std::vector<double> & yaw,
                    const std::vector<double> & pitch,
                    const std::vector<double> & roll,
                    const std::string yaw_orientation="normal");

        EulerAngles(const EulerAngles &);

        bool operator==(const EulerAngles &) const;

        EulerAngles & operator=(const EulerAngles &);

        void data(const std::vector<double> & time,
                  const std::vector<double> & yaw,
                  const std::vector<double> & pitch,
                  const std::vector<double> & roll);

        inline const std::vector<double> & time() const { return _time; }

        inline const std::vector<double> & yaw() const { return _yaw; }

        inline const std::vector<double> & pitch() const { return _pitch; }

        inline const std::vector<double> & roll() const { return _roll; }
    
        void ypr(double tintp, double & yaw, double & pitch, double & roll);

        cartmat_t rotmat(double tintp, const std::string,
                         double dyaw = 0.0, double dpitch = 0.0,
                         double d2 = 0.0, double d3 = 0.0);

        std::vector<double> toQuaternionElements(double tintp);

        Quaternion toQuaternion();

        cartmat_t T3(double);

        cartmat_t T2(double);

        cartmat_t T1(double);

        static cartesian_t rotmat2ypr(const cartmat_t &);

        inline const isce3::core::DateTime & refEpoch() const { return _refEpoch; }
        inline void refEpoch(const isce3::core::DateTime & epoch) { _refEpoch = epoch; }

        inline size_t nVectors() const { return _yaw.size(); }

    // Private data members
    private:
        // Vectors of time and attitude angles
        std::vector<double> _time;
        std::vector<double> _yaw;
        std::vector<double> _pitch;
        std::vector<double> _roll;

        // Reference epoch
        isce3::core::DateTime _refEpoch;
};