movement.h

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#ifndef FSRMOVEMENT_H
#define FSRMOVEMENT_H
 
#include "gmapping/utils/point.h"
#include <gmapping/utils/utils_export.h>
 
namespace GMapping {
 
class UTILS_EXPORT FSRMovement  {
 public:
  FSRMovement(double f=0.0, double s=0.0, double r=0.0);
  FSRMovement(const FSRMovement& src);
  FSRMovement(const OrientedPoint& pt1, const OrientedPoint& pt2);
  FSRMovement(const FSRMovement& move1, const FSRMovement& move2);
  
 
  void normalize();
  void invert();
  void compose(const FSRMovement& move2);
  OrientedPoint move(const OrientedPoint& pt) const;
 
 
  /* static members */
 
  static OrientedPoint movePoint(const OrientedPoint& pt, const FSRMovement& move1);
 
  static FSRMovement composeMoves(const FSRMovement& move1, 
                                  const FSRMovement& move2);
  
  static FSRMovement moveBetweenPoints(const OrientedPoint& pt1, 
                                       const OrientedPoint& pt2);
 
  static FSRMovement invertMove(const FSRMovement& move1);
 
  static OrientedPoint frameTransformation(const OrientedPoint& reference_pt_frame1, 
                                           const OrientedPoint& reference_pt_frame2,
                                           const OrientedPoint& pt_frame1);
 
 public:
  double f;
  double s;
  double r;
};
}
#endif