00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 00037 00038 #ifndef STATE_POS_VEL_H 00039 #define STATE_POS_VEL_H 00040 00041 #include <tf/tf.h> 00042 00043 namespace BFL 00044 { 00046 class StatePosVel 00047 { 00048 public: 00049 tf::Vector3 pos_, vel_; 00050 00052 StatePosVel(const tf::Vector3& pos=tf::Vector3(0,0,0), 00053 const tf::Vector3& vel=tf::Vector3(0,0,0)): pos_(pos), vel_(vel) {}; 00054 00056 ~StatePosVel() {}; 00057 00059 StatePosVel& operator += (const StatePosVel& s) 00060 { 00061 this->pos_ += s.pos_; 00062 this->vel_ += s.vel_; 00063 return *this; 00064 } 00065 00067 StatePosVel operator + (const StatePosVel& s) 00068 { 00069 StatePosVel res; 00070 00071 res.pos_ = this->pos_ + s.pos_; 00072 res.vel_ = this->vel_ + s.vel_; 00073 return res; 00074 } 00075 00077 friend std::ostream& operator<< (std::ostream& os, const StatePosVel& s) 00078 { os << "(" << s.pos_[0] << ", " << s.pos_[1] << ", " << s.pos_[2] << ")--(" 00079 << "(" << s.vel_[0] << ", " << s.vel_[1] << ", " << s.vel_[2] << ") "; return os;}; 00080 00081 00082 00083 00084 }; 00085 } // end namespace 00086 #endif