Rotation2D.h

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/**
 *  \file IMP/algebra/Rotation2D.h
 *  \brief Represent a rotation in 2D space.
 *
 *  Copyright 2007-2022 IMP Inventors. All rights reserved.
*/

#ifndef IMPALGEBRA_ROTATION_2D_H
#define IMPALGEBRA_ROTATION_2D_H

#include <IMP/algebra/algebra_config.h>
#include "utility.h"
#include "Vector2D.h"
#include "GeometricPrimitiveD.h"
#include "constants.h"
#include <IMP/random.h>
#include <boost/random/uniform_01.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/split_member.hpp>
#include <cmath>
//#include <stdlib.h>

IMPALGEBRA_BEGIN_NAMESPACE

#if !defined(IMP_DOXYGEN) && !defined(SWIG)
class Rotation2D;
Rotation2D compose(const Rotation2D &a, const Rotation2D &b);
#endif

//! Represent a rotation in 2D space.
/**
  \note This class requires the angles to be given in radians, and the
  convention used is that the rotations are performed rotating counterclockwise
  (right hand side convention).

  \geometry
**/
class Rotation2D : public GeometricPrimitiveD<2> {
 public:
  Rotation2D() : angle_(std::numeric_limits<double>::quiet_NaN()) {};

  //! Build the matrix for the given angle
  Rotation2D(double angle) { set_angle(angle); }

  //! Rotate a 2D point
  /**
  * \param[in] o a 2D vector to be rotated
  */
  Vector2D get_rotated(const Vector2D &o) const {
    IMP_INTERNAL_CHECK(!IMP::isnan(angle_),
                       "Attempting to use uninitialized rotation");
    return get_rotated(o[0], o[1]);
  }

  //! Rotate a 2D point
  Vector2D get_rotated(const double x, const double y) const {
    IMP_INTERNAL_CHECK(!IMP::isnan(angle_),
                       "Attempting to use uninitialized rotation");
    return Vector2D(c_ * x - s_ * y, s_ * x + c_ * y);
  }

  //! Return the matrix for the inverse rotation
  Rotation2D get_inverse() const {
    IMP_INTERNAL_CHECK(!IMP::isnan(angle_),
                       "Attempting to use uninitialized rotation");
    return Rotation2D(-angle_);
  }

  //! Set the angle for the rotation
  /**
  * \param[in] angle the angle
  */
  void set_angle(double angle) {
    angle_ = angle;
    c_ = cos(angle);
    s_ = sin(angle);
  }

  //! Get the angle
  double get_angle() const { return angle_; }

  //! Print the angle
  IMP_SHOWABLE_INLINE(Rotation2D, out << "Rotation2D (radians): " << angle_;);

private:
  double angle_;  // angle
  double c_;      // cosine of the angle
  double s_;      // sine of the angle

#ifndef SWIG
  friend class boost::serialization::access;

  template<class Archive> void save(Archive &ar, const unsigned int) const {
    ar << angle_;
  }

  template<class Archive> void load(Archive &ar, const unsigned int) {
    double a;
    ar >> a;
    set_angle(a);
  }

  BOOST_SERIALIZATION_SPLIT_MEMBER()
#endif
};

//! Build an identity rotation in 2D
inline Rotation2D get_identity_rotation_2d() { return Rotation2D(0.0); }

//! Build an identity rotation in 2D
inline Rotation2D get_random_rotation_2d() {
  return Rotation2D(2 * PI *
                    boost::uniform_01<>()(random_number_generator));
}

//! Build the rotation that transforms the vector X of the origin
//! of coordinates into the given vector
inline Rotation2D get_rotation_to_x_axis(const Vector2D &v) {
  return Rotation2D(atan2(v[1], v[0]));
}

//! Compose two rotations a and b.
/**
  For any vector v (a*b)*v = a*(b*v).
*/
inline Rotation2D compose(const Rotation2D &a, const Rotation2D &b) {
  double new_angle = a.get_angle() + b.get_angle();
  Rotation2D R(new_angle);
  return R;
}

IMP_VALUES(Rotation2D, Rotation2Ds);

IMPALGEBRA_END_NAMESPACE

#endif /* IMPALGEBRA_ROTATION_2D_H */