GoGdpTransform.h

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#ifndef GO_PXL_SDK_GOGDPTRANSFORM_H
#define GO_PXL_SDK_GOGDPTRANSFORM_H

#include <GoApi/GoApi.h>
#include <kApi/Io/kSerializer.h>
#include <GoPxLSdk/GoGdpMsg/GoGdpMsgDef.h>

class GoGdpMsgTests;

namespace GoPxLSdk
{

    /*
    This class represents a 3D transformation matrix

    [ xx xy xz xt ]
    [ yx yy yz yt ]
    [ zx zy zz zt ]
    [ 0  0  0  1  ]
    */

    class GoPxLSdkClass GoGdpTransform
    {

    friend class ::GoGdpMsgTests;

    public:
        GoGdpTransform() = default;

        void Deserialize(kSerializer serializer);

        const k64f XX() const;

        const k64f XY() const;

        const k64f XZ() const;

        const k64f XT() const;

        const k64f YX() const;

        const k64f YY() const;

        const k64f YZ() const;

        const k64f YT() const;

        const k64f ZX() const;

        const k64f ZY() const;

        const k64f ZZ() const;

        const k64f ZT() const;

    private:
        k64f xx = 1.0;
        k64f xy = 0.0;
        k64f xz = 0.0;
        k64f xt = 0.0;

        k64f yx = 0.0;
        k64f yy = 1.0;
        k64f yz = 0.0;
        k64f yt = 0.0;

        k64f zx = 0.0;
        k64f zy = 0.0;
        k64f zz = 1.0;
        k64f zt = 0.0;

    };
}

#endif