Gazebo

Pose3d.hh

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: External interfaces for Gazebo
00022  * Author: Nate Koenig
00023  * Date: 03 Apr 2007
00024  * SVN: $Id: Pose3d.hh 123 2007-09-19 20:36:14Z natepak $
00025  */
00026 
00027 #ifndef POSE3D_HH
00028 #define POSE3D_HH
00029 
00030 #include <iostream>
00031 
00032 #include "Vector3.hh"
00033 #include "Quatern.hh"
00034 
00035 
00036 namespace gazebo
00037 {
00038 
00042 
00043 
00045 class Pose3d
00046 {
00048   public: Pose3d();
00049 
00053   public: Pose3d( const Vector3 &pos, const Quatern &rot);
00054 
00057   public: Pose3d( const Pose3d &pose );
00058 
00060   public: virtual ~Pose3d();
00061 
00063   public: bool IsFinite() const;
00064 
00068   public: Pose3d operator+(const Pose3d &pose) const;
00069 
00073   public: const Pose3d &operator+=(const Pose3d &pose);
00074 
00078   public: Pose3d operator-(const Pose3d &pose) const;
00079 
00083   public: const Pose3d &operator-=(const Pose3d &pose);
00084           
00088   public: Vector3 CoordPositionAdd(const Vector3 &pos) const;
00089 
00093   public: Vector3 CoordPositionAdd(const Pose3d &pose) const;
00094 
00098   public: Vector3 CoordPositionSub(const Pose3d &pose) const;
00099 
00103   public: Quatern CoordRotationAdd(const Quatern &rot) const;
00104 
00108   public: Quatern CoordRotationSub(const Quatern &rot) const;
00109 
00112   public: Pose3d CoordPoseSolve(const Pose3d &b) const;
00113 
00115   public: void Reset();
00116 
00118   public: Vector3 pos;
00119 
00121   public: Quatern rot;
00122 
00127   public: friend std::ostream &operator<<(std::ostream &out, const gazebo::Pose3d &pose)
00128           {
00129             out << "Pos[" << pose.pos << "] Rot[" << pose.rot << "]";
00130             return out;
00131 
00132           }
00133 };
00134 
00136 
00137 }
00138 
00139 #endif
00140 

Last updated Aug 04 2007