FrameToPointSet.h

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#pragma once
#include "Array/Array.h"
#include "Module/TopologyMapping.h"
 
namespace dyno
{
    template<typename TDataType> class Frame;
    template<typename TDataType> class PointSet;
 
template<typename TDataType>
class FrameToPointSet : public TopologyMapping
{
public:
    typedef typename TDataType::Real Real;
    typedef typename TDataType::Coord Coord;
    typedef typename TDataType::Rigid Rigid;
    typedef typename TDataType::Matrix Matrix;
 
    FrameToPointSet();
    FrameToPointSet(std::shared_ptr<Frame<TDataType>> from, std::shared_ptr<PointSet<TDataType>> to);
    ~FrameToPointSet() override;
 
    void initialize(const Rigid& rigid, DArray<Coord>& points);
 
    void applyTransform(const Rigid& rigid, DArray<Coord>& points);
 
    bool apply() override;
 
protected:
    bool initializeImpl() override;
 
private:
    void match(std::shared_ptr<Frame<TDataType>> from, std::shared_ptr<PointSet<TDataType>> to);
 
    std::shared_ptr<Frame<TDataType>> m_from = nullptr;
    std::shared_ptr<PointSet<TDataType>> m_to = nullptr;
 
    Rigid m_refRigid;
    DArray<Coord> m_refPoints;
 
    std::shared_ptr<Frame<TDataType>> m_initFrom;
    std::shared_ptr<PointSet<TDataType>> m_initTo;
};
}