FrameOrientation.hpp

Go to the documentation of this file.

/*
 * RDL - Robot Dynamics Library
 * Copyright (c) 2017 Jordan Lack <jlack1987@gmail.com>
 *
 * Licensed under the zlib license. See LICENSE for more details.
 */

#ifndef __RDL_DYNAMICS_FRAME_ORIENTATION_HPP__
#define __RDL_DYNAMICS_FRAME_ORIENTATION_HPP__

#include "rdl_dynamics/FrameObject.hpp"
#include "rdl_dynamics/Quaternion.h"

namespace RobotDynamics
{
namespace Math
{
class FrameOrientation : public FrameObject, public Quaternion
{
  public:
    FrameOrientation() : FrameObject(nullptr), Quaternion(0., 0., 0., 1.)
    {
    }

    explicit FrameOrientation(ReferenceFramePtr referenceFrame) : FrameObject(referenceFrame), Quaternion(0., 0., 0., 1.)
    {
    }

    FrameOrientation(ReferenceFramePtr referenceFrame, Quaternion quat) : FrameObject(referenceFrame), Quaternion(quat)
    {
    }

    FrameOrientation(ReferenceFramePtr referenceFrame, double x, double y, double z, double w) : FrameObject(referenceFrame), Quaternion(x, y, z, w)
    {
    }

    FrameOrientation(ReferenceFramePtr referenceFrame, const Matrix3d& E) : FrameObject(referenceFrame), Quaternion(E)
    {
    }

    FrameOrientation(ReferenceFramePtr referenceFrame, const AxisAngle& axis_angle) : FrameObject(referenceFrame), Quaternion(axis_angle)
    {
    }

    FrameOrientation(ReferenceFramePtr referenceFrame, Vector3d axis, double angle) : FrameObject(referenceFrame), Quaternion(axis, angle)
    {
    }

    Math::TransformableGeometricObject* getTransformableGeometricObject()
    {
        return this;
    }

    void setIncludingFrame(const Quaternion& q, ReferenceFramePtr referenceFrame)
    {
        this->referenceFrame = referenceFrame;
        set(q);
    }

    void setIncludingFrame(const Matrix3d& E, ReferenceFramePtr referenceFrame)
    {
        this->referenceFrame = referenceFrame;
        set(E);
    }

    void setIncludingFrame(const AxisAngle& axis_angle, ReferenceFramePtr referenceFrame)
    {
        setIncludingFrame(axis_angle.axis(), axis_angle.angle(), referenceFrame);
    }

    void setIncludingFrame(Vector3d axis, double angle, ReferenceFramePtr referenceFrame)
    {
        this->referenceFrame = referenceFrame;
        set(axis, angle);
    }

    FrameOrientation changeFrameAndCopy(ReferenceFramePtr referenceFrame) const
    {
        FrameOrientation ret = *this;
        ret.changeFrame(referenceFrame);
        return ret;
    }
};
}  // namespace Math
}  // namespace RobotDynamics

#endif  //__RDL_DYNAMICS_FRAME_ORIENTATION_HPP__