/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
  $Id: vctFrameBase.cpp,v 1.8 2007/04/26 19:33:57 anton Exp $
  
  Author(s):	Anton Deguet
  Created on:	2004-02-12

  (C) Copyright 2004-2007 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---

*/


#include <cisstVector/vctFrameBase.h>
#include <cisstVector/vctTransformationTypes.h>
#include <cisstVector/vctMatrixRotation3Base.h>
#include <cisstVector/vctQuaternionRotation3Base.h>

template<>
const vctFrameBase<vctDoubleMatRot3> &
vctFrameBase<vctDoubleMatRot3>::Identity()
{
  static const TranslationType zeroTranslation(0);
  static const RotationType identityRotation;
  static const ThisType result(identityRotation, zeroTranslation);
  return result;
}

template<>
const vctFrameBase<vctMatrixRotation3Base<vctFixedSizeMatrix<double, 3, 3> > > &
vctFrameBase<vctMatrixRotation3Base<vctFixedSizeMatrix<double, 3, 3> > >::Identity()
{
  static const TranslationType zeroTranslation(0);
  static const RotationType identityRotation;
  static const ThisType result(identityRotation, zeroTranslation);
  return result;
}



template<>
const vctFrameBase<vctFloatMatRot3> &
vctFrameBase<vctFloatMatRot3>::Identity()
{
  static const TranslationType zeroTranslation(0);
  static const RotationType identityRotation;
  static const ThisType result(identityRotation, zeroTranslation);
  return result;
}

template<>
const vctFrameBase<vctMatrixRotation3Base<vctFixedSizeMatrix<float, 3, 3> > > &
vctFrameBase<vctMatrixRotation3Base<vctFixedSizeMatrix<float, 3, 3> > >::Identity()
{
  static const TranslationType zeroTranslation(0);
  static const RotationType identityRotation;
  static const ThisType result(identityRotation, zeroTranslation);
  return result;
}



template<>
const vctFrameBase<vctDoubleQuatRot3> &
vctFrameBase<vctDoubleQuatRot3>::Identity()
{
  static const TranslationType zeroTranslation(0);
  static const RotationType identityRotation;
  static const ThisType result(identityRotation, zeroTranslation);
  return result;
}

template<>
const vctFrameBase<vctQuaternionRotation3Base<vctFixedSizeVector<double, 4> > > &
vctFrameBase<vctQuaternionRotation3Base<vctFixedSizeVector<double, 4> > >::Identity()
{
  static const TranslationType zeroTranslation(0);
  static const RotationType identityRotation;
  static const ThisType result(identityRotation, zeroTranslation);
  return result;
}



template<>
const vctFrameBase<vctFloatQuatRot3> &
vctFrameBase<vctFloatQuatRot3>::Identity()
{
  static const TranslationType zeroTranslation(0);
  static const RotationType identityRotation;
  static const ThisType result(identityRotation, zeroTranslation);
  return result;
}

template<>
const vctFrameBase<vctQuaternionRotation3Base<vctFixedSizeVector<float, 4> > > &
vctFrameBase<vctQuaternionRotation3Base<vctFixedSizeVector<float, 4> > >::Identity()
{
  static const TranslationType zeroTranslation(0);
  static const RotationType identityRotation;
  static const ThisType result(identityRotation, zeroTranslation);
  return result;
}



// ****************************************************************************
//                              Change History
// ****************************************************************************
//
// $Log: vctFrameBase.cpp,v $
// Revision 1.8  2007/04/26 19:33:57  anton
// All files in libraries: Applied new license text, separate copyright and
// updated dates, added standard header where missing.
//
// Revision 1.7  2007/02/06 17:22:05  anton
// cisstVector: Transformations typdefs updated based on ticket #266 and #263
//
// Revision 1.6  2007/01/29 03:29:37  anton
// cisstVector: Update quaternion and quaternion based rotation to reflect new
// class structure (see ticket #263).
//
// Revision 1.5  2007/01/26 21:23:22  anton
// cisstVector:  Updated vctMatrixRotation3 code to reflect new design (i.e. avoid
// derived class and use typedef instead, see ticket #263.
//
// Revision 1.4  2006/11/20 20:33:19  anton
// Licensing: Applied new license to cisstCommon, cisstVector, cisstNumerical,
// cisstInteractive, cisstImage and cisstOSAbstraction.
//
// Revision 1.3  2005/09/26 15:41:46  anton
// cisst: Added modelines for emacs and vi.
//
// Revision 1.2  2005/05/19 19:29:01  anton
// cisst libs: Added the license to cisstCommon and cisstVector
//
// Revision 1.1  2004/10/21 20:14:47  anton
// cisstVector: Added missing file in check-in [829]
//
// Revision 1.6  2004/10/14 19:34:52  anton
// cisstVector: For the frames, constructors are now based on (rotation,
// translation) instead of (translation, rotation) as requested in #72.
//
// Revision 1.5  2004/04/02 16:22:20  anton
// Removed explicit instantiation of the classes.  The class is templated and
// the method Identity is the only one that needs to be instantiated.  The
// specialization for floats and doubles does it.
//
// Revision 1.4  2004/03/11 22:32:59  ofri
// Moved instantiation of rotation and frame CLASSES from vctTypes.cpp to
// the class cpp file
//
// Revision 1.3  2004/02/27 02:44:57  ofri
// The Identity rotation and frame objects are now declared through a static
// method instead of a static object instance. This fixes a bug related to the
// order of static object instantiations.
//
// Revision 1.2  2004/02/18 22:30:42  anton
// Added DIMENSION for all transformation to simplify the vctFrame template
//
// Revision 1.1  2004/02/18 16:00:38  anton
// Creation
//
//
// ****************************************************************************