/******************************************************************************\

CAMotics is an Open-Source simulation and CAM software.

Copyright (C) 2011-2019 Joseph Coffland <joseph@cauldrondevelopment.com>

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 2 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program. If not, see <http://www.gnu.org/licenses/>.

\******************************************************************************/

#include "Transforms.h"

#include <cbang/Exception.h>

using namespace GCode;

using namespace cb;

TransformStack &Transforms::get(axes_t axes) {

if (AXES_COUNT <= axes) THROW("Invalid transform " << axes);

return stacks[axes];

}

const TransformStack &Transforms::get(axes_t axes) const {

if (AXES_COUNT <= axes) THROW("Invalid transform " << axes);

return stacks[axes];

}

Axes Transforms::transform(const Axes &axes) const {

Axes trans(axes);

// TODO this is inefficient

trans.applyXYZMatrix(get(XYZ).top());

trans.applyABCMatrix(get(ABC).top());

trans.applyUVWMatrix(get(UVW).top());

return trans;

}