rtc: rtc: rtcPose2D.h Source File

00001 /*
00002  * Copyright (C) 2009
00003  * Robert Bosch LLC
00004  * Research and Technology Center North America
00005  * Palo Alto, California
00006  *
00007  * All rights reserved.
00008  *
00009  *------------------------------------------------------------------------------
00010  * project ....: Autonomous Technologies
00011  * file .......: rtcPose2D.h
00012  * authors ....: Benjamin Pitzer
00013  * organization: Robert Bosch LLC
00014  * creation ...: 02/29/2008
00015  * modified ...: $Date:2008-03-03 10:26:02 -0800 (Mon, 03 Mar 2008) $
00016  * changed by .: $Author:benjaminpitzer $
00017  * revision ...: $Revision:141 $
00018  */
00019 #ifndef POSE2D_H
00020 #define POSE2D_H
00021 
00022 //== INCLUDES ==================================================================
00023 #include "rtc/rtcMath.h"
00024 #include "rtc/rtcVec2.h"
00025 #include "rtc/rtcVec3.h"
00026 #include "rtc/rtcRotation2D.h"
00027 
00028 //== NAMESPACES ================================================================
00029 namespace rtc {
00030 
00034 class Pose2D {
00035 public:
00036   // Constructor/Destructor
00037   Pose2D();
00038   Pose2D(float x, float y, float theta);
00039   Pose2D(const Vec2f& translation, float rotation);
00040   Pose2D(const Vec3f& pose);
00041   ~Pose2D();
00042 
00043   // Accessors
00044   float x() const;
00045   float y() const;
00046   float theta() const;
00047 
00048   Vec2f getTranslation() const;
00049   Rotation2Df getRotation() const;
00050   Transform2Df getTransform() const;
00051 
00052   // adds an offset to pose
00053   void addOffset(const Vec2f& xOffset, float eOffset);
00054 
00055   // Mutators
00056   void set(const Pose2D& pose);
00057   void set(float x, float y, float theta);
00058   void set(const Vec2f& translation, float rotation);
00059   void set(const Vec3f& pose);
00060   void set(const Transform2Df& transform);
00061 
00062   // data
00063   Vec3f p;
00064 };
00065 
00066 // ASCII stream IO
00067 std::ostream& operator<<(std::ostream& os, const Pose2D& pose);
00068 std::istream& operator>>(std::istream& is, Pose2D& pose);
00069 
00070 // binary stream IO
00071 bool rtc_write(OutputHandler& oh,const Pose2D& data);
00072 bool rtc_read(InputHandler& ih,Pose2D& data);
00073 
00074 //==============================================================================
00075 } // NAMESPACE rtc
00076 //==============================================================================
00077 #endif // RTC_POSE2D_H defined
00078 //==============================================================================