Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * hom_pose.h - Homogenous Pose 00004 * 00005 * Created: Sun April 13 16:10:45 2008 00006 * Copyright 2008 Daniel Beck 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __GEOMETRY_HOM_POSE_H_ 00025 #define __GEOMETRY_HOM_POSE_H_ 00026 00027 #include <geometry/hom_point.h> 00028 00029 namespace fawkes { 00030 00031 class HomPose : public HomPoint 00032 { 00033 public: 00034 HomPose(float x = 0, float y = 0, float yaw = 0); 00035 HomPose( float x, float y, float z, 00036 float roll, float pitch, float yaw ); 00037 HomPose(const HomCoord& h); 00038 virtual ~HomPose(); 00039 00040 float roll() const; 00041 float& roll(); 00042 void roll(float roll); 00043 00044 float pitch() const; 00045 float& pitch(); 00046 void pitch(float pitch); 00047 00048 float yaw() const; 00049 float& yaw(); 00050 void yaw(float yaw); 00051 00052 HomPoint pos() const; 00053 00054 virtual HomPose& rotate_x(float rad); 00055 virtual HomPose& rotate_y(float rad); 00056 virtual HomPose& rotate_z(float rad); 00057 00058 private: 00059 float m_roll; 00060 float m_pitch; 00061 float m_yaw; 00062 }; 00063 00064 } // end namespace fawkes 00065 00066 #endif /* __GEOMETRY_HOM_POSE_H_ */