Attitude.h

#pragma once
#define EIGEN_MPL2_ONLY
#include "forward.h"
 
#include <vector>
 
#include <Eigen/Geometry>
 
#include "Attitude.h"
#include "DateTime.h"
#include "Quaternion.h"
#include "TimeDelta.h"
 
namespace isce3 { namespace core {

class Attitude {
 
public:
    Attitude(const std::vector<double>& time,
             const std::vector<Quaternion>& quaternions, const DateTime& epoch);
 
    Attitude() = default;

    Quaternion interpolate(double t) const;

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

    const std::vector<Quaternion>& quaternions() const { return _quaternions; };

    int size() const { return _time.size(); }

    const DateTime& referenceEpoch() const { return _reference_epoch; }

    void referenceEpoch(const DateTime& epoch);

    double startTime() const { return _time[0]; }

    double endTime() const { return _time[size() - 1]; }

    bool contains(double time) const {
        return (startTime() <= time) && (time <= endTime());
    }

    DateTime startDateTime() const
    {
        return _reference_epoch + TimeDelta(startTime());
    }

    DateTime endDateTime() const
    {
        return _reference_epoch + TimeDelta(endTime());
    }

    Attitude crop(const DateTime& start, const DateTime& end, int npad = 0) const;
 
private:
    DateTime _reference_epoch;
    std::vector<double> _time;
    std::vector<Quaternion> _quaternions;
};
 
}} // namespace isce3::core