RigidObject3DMotion.h

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//
//
/*
    Copyright (C) 2003- 2010 , Hammersmith Imanet Ltd
    For internal GE use only
*/
#ifndef __stir_motion_RigidObject3DMotion__H__
#define __stir_motion_RigidObject3DMotion__H__

#include "stir_experimental/motion/RigidObject3DTransformation.h"
#include "stir/RegisteredObject.h"
#include "stir/ParsingObject.h"
#include <vector>
#include <ctime>

START_NAMESPACE_STIR

class AbsTimeInterval;

class RigidObject3DMotion : public RegisteredObject<RigidObject3DMotion>
{

public:
  ~RigidObject3DMotion() override {}

  virtual RigidObject3DTransformation get_motion_in_tracker_coords_rel_time(const double time) const = 0;

  virtual RigidObject3DTransformation get_motion_in_scanner_coords_rel_time(const double time) const;


  virtual RigidObject3DTransformation compute_average_motion_in_tracker_coords(const AbsTimeInterval&) const;

  virtual RigidObject3DTransformation compute_average_motion_in_scanner_coords(const AbsTimeInterval&) const;

  virtual RigidObject3DTransformation compute_average_motion_in_tracker_coords_rel_time(const double start_time,
                                                                                        const double end_time) const = 0;

  virtual RigidObject3DTransformation compute_average_motion_in_scanner_coords_rel_time(const double start_time,
                                                                                        const double end_time) const;



  virtual std::vector<double> get_rel_time_of_samples(const double start_time, const double end_time) const = 0;


  virtual Succeeded synchronise() = 0;

  virtual double secs_since_1970_to_rel_time(std::time_t) const = 0;

protected:
#if 0
  void
    set_time_offset(const double time_offset);
  double 
    get_time_offset() const;
#endif
  virtual bool is_synchronised() const = 0;

public:
  virtual const RigidObject3DTransformation& get_transformation_to_scanner_coords() const = 0;
  virtual const RigidObject3DTransformation& get_transformation_from_scanner_coords() const = 0;

  virtual void set_transformation_from_scanner_coords(const RigidObject3DTransformation&) = 0;

protected:
  void set_defaults() override;
  void initialise_keymap() override;
  bool post_processing() override;
};

END_NAMESPACE_STIR

#endif