24 #ifndef __GEOMETRY_HOM_POLAR_H_ 25 #define __GEOMETRY_HOM_POLAR_H_ 27 #include <geometry/hom_vector.h> 45 void phi_z(
float phi_z);
47 void phi_y(
float phi_y);
48 void phi(
float phi_x,
float phi_y);
HomVector get_vector() const
Convert the polar coordinate to a cartesian coordinate.
float phi_z() const
Get the rotation angle around the z-axis.
A homogeneous representation of a polar coordinate.
Fawkes library namespace.
virtual ~HomPolar()
Desctructor.
float r() const
Obtain the radius.
float phi_y() const
Obtain the rotation angle around the y-axis after rotating around the z-axis.
virtual HomPolar operator+(const HomPolar &h) const
Addition operator.
virtual HomPolar & rotate_x(float rad)
Convenience function to rotate the HomCoord around the x-axis.
virtual HomPolar & rotate_z(float rad)
Convenience function to rotate the HomCoord around the z-axis.
float phi() const
Get the rotation angle around the z-axis.
virtual HomPolar & operator=(const HomPolar &h)
Assignemnt operator.
Base class for homogeneous primitives (vector and point).
virtual HomPolar & operator-=(const HomPolar &h)
Subtraction-assignment operator.
virtual HomPolar & rotate_y(float rad)
Convenience function to rotate the HomCoord around the y-axis.
HomPolar(float r=0.0, float phi=0.0)
Constructor (two-dimensional).
virtual HomPolar & operator+=(const HomPolar &h)
Addition-assignment operator.
virtual HomPolar operator-(const HomPolar &h) const
Substraction operator.