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hom_pose_2d.h
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/***************************************************************************
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* hom_pose_2d.h - 2-dimensional Homogenous Pose
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*
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* Created: Fri Oct 10 11:06:45 2008
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* Copyright 2008 Daniel Beck
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#ifndef __GEOMETRY_HOM_POSE_2D_H_
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#define __GEOMETRY_HOM_POSE_2D_H_
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#include <geometry/transformable.h>
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namespace
fawkes {
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class
HomPoint;
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class
HomVector;
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class
HomPose2d
:
public
Transformable
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{
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public
:
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HomPose2d
(
const
HomPoint
& pos,
const
HomVector
&
orientation
);
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HomPose2d
(
float
x
= 0.0,
float
y
= 0.0,
float
yaw
= 0.0);
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HomPose2d
(
const
HomPose2d
& p);
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~HomPose2d
();
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const
HomPose2d
&
operator=
(
const
HomPose2d
& p);
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float
x
()
const
;
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void
x
(
float
x);
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float
y
()
const
;
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void
y
(
float
y);
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float
yaw
()
const
;
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void
yaw
(
float
yaw);
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const
HomPoint
&
position
()
const
;
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const
HomVector
&
orientation
()
const
;
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void
set_position
(
const
HomPoint
& p);
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protected
:
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void
register_primitives
();
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void
post_transform
();
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private
:
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HomPoint
* m_position;
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HomVector
* m_orientation;
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float
m_yaw;
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};
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}
// end namespace fawkes
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#endif
/* __GEOMETRY_HOM_POSE_2D_H_ */
src
libs
geometry
hom_pose_2d.h
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