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hom_pose.h
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/***************************************************************************
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* hom_pose.h - Homogenous Pose
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*
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* Created: Sun April 13 16:10:45 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_H_
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#define __GEOMETRY_HOM_POSE_H_
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#include <geometry/hom_point.h>
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namespace
fawkes {
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class
HomPose
:
public
HomPoint
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{
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public
:
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HomPose
(
float
x
= 0,
float
y
= 0,
float
yaw
= 0);
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HomPose
(
float
x
,
float
y
,
float
z
,
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float
roll
,
float
pitch
,
float
yaw
);
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HomPose
(
const
HomCoord
& h);
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virtual
~HomPose
();
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float
roll
()
const
;
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float
&
roll
();
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void
roll
(
float
roll);
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float
pitch
()
const
;
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float
&
pitch
();
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void
pitch
(
float
pitch);
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float
yaw
()
const
;
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float
&
yaw
();
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void
yaw
(
float
yaw);
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HomPoint
pos
()
const
;
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virtual
HomPose
&
rotate_x
(
float
rad);
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virtual
HomPose
&
rotate_y
(
float
rad);
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virtual
HomPose
&
rotate_z
(
float
rad);
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private
:
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float
m_roll;
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float
m_pitch;
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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_H_ */
src
libs
geometry
hom_pose.h
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