Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * hom_pose_2d.h - 2-dimensional Homogenous Pose 00004 * 00005 * Created: Fri Oct 10 11:06:45 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_2D_H_ 00025 #define __GEOMETRY_HOM_POSE_2D_H_ 00026 00027 #include <geometry/transformable.h> 00028 00029 namespace fawkes { 00030 class HomPoint; 00031 class HomVector; 00032 00033 class HomPose2d : public Transformable 00034 { 00035 public: 00036 HomPose2d(const HomPoint& pos, const HomVector& orientation); 00037 HomPose2d(float x = 0.0, float y = 0.0, float yaw = 0.0); 00038 HomPose2d(const HomPose2d& p); 00039 ~HomPose2d(); 00040 00041 const HomPose2d& operator=(const HomPose2d& p); 00042 00043 float x() const; 00044 void x(float x); 00045 00046 float y() const; 00047 void y(float y); 00048 00049 float yaw() const; 00050 void yaw(float yaw); 00051 00052 const HomPoint& position() const; 00053 const HomVector& orientation() const; 00054 00055 void set_position(const HomPoint& p); 00056 00057 protected: 00058 void register_primitives(); 00059 void post_transform(); 00060 00061 private: 00062 HomPoint* m_position; 00063 HomVector* m_orientation; 00064 00065 float m_yaw; 00066 }; 00067 00068 } // end namespace fawkes 00069 00070 #endif /* __GEOMETRY_HOM_POSE_2D_H_ */