Gazebo

Vector3.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: The world; all models are collected here
00022  * Author: Nate Koenig
00023  * Date: 3 Apr 2007
00024  * SVN: $Id: Vector3.hh 156 2007-11-26 20:26:57Z natepak $
00025  */
00026 
00027 #ifndef VECTOR3_HH
00028 #define VECTOR3_HH
00029 
00030 #include <iostream>
00031 #include <fstream>
00032 
00033 namespace gazebo
00034 {
00038 
00040 class Vector3
00041 {
00043   public: Vector3();
00044 
00046   public: Vector3( const double &x, const double &y, const double &z );
00047 
00049   public: Vector3( const Vector3 &pt );
00050 
00052   public: virtual ~Vector3();
00053 
00055   public: double Distance( const Vector3 &pt ) const;
00056 
00058   public: double GetLength() const;
00059 
00061   public: double GetSquaredLength() const;
00062 
00064   public: void Normalize();
00065 
00067   public: void Set(double x = 0, double y =0 , double z = 0);
00068 
00070   public: Vector3 GetCrossProd(const Vector3 &pt) const;
00071 
00073   public: Vector3 GetPerpendicular() const;
00074 
00076   public: const Vector3 &operator=( const Vector3 &pt );
00077 
00079   public: const Vector3 &operator=( double value );
00080 
00082   public: Vector3 operator+( const Vector3 &pt ) const;
00083 
00085   public: const Vector3 &operator+=( const Vector3 &pt );
00086 
00088   public: Vector3 operator-( const Vector3 &pt ) const;
00089 
00091   public: const Vector3 &operator-=( const Vector3 &pt );
00092 
00094   public: const Vector3 operator/( const Vector3 &pt ) const;
00095 
00097   public: const Vector3 &operator/=( const Vector3 &pt );
00098 
00100   public: const Vector3 operator/( double v ) const;
00101 
00103   public: const Vector3 &operator/=( double v );
00104 
00106   public: const Vector3 operator*( const Vector3 &pt ) const;
00107 
00109   public: const Vector3 &operator*=( const Vector3 &pt );
00110 
00112   public: const Vector3 operator*( double v ) const;
00113 
00115   public: const Vector3 &operator*=( double v );
00116 
00118   public: bool operator==( const Vector3 &pt ) const;
00119 
00121   public: bool operator!=( const Vector3 &pt ) const;
00122 
00124   public: bool IsFinite() const;
00125 
00127   public: double operator[](unsigned int index) const;
00128 
00130   public: double x;
00131 
00133   public: double y;
00134 
00136   public: double z;
00137 
00142   public: friend std::ostream &operator<<( std::ostream &out, const gazebo::Vector3 &pt )
00143   {
00144     out << pt.x << " " << pt.y << " " << pt.z;
00145 
00146     return out;
00147   }
00148 
00149 };
00150 
00152 }
00153 
00154 #endif

Last updated Aug 04 2007