Fawkes API Fawkes Development Version

hom_pose.h

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_ */
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