00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * Copyright (c) 2013, Intelligent Robotics Lab, DLUT. 00004 * All rights reserved. 00005 * Author:Zhao Cilang,Yan Fei,Zhuang Yan 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions 00008 * are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above 00013 * copyright notice, this list of conditions and the following 00014 * disclaimer in the documentation and/or other materials provided 00015 * with the distribution. 00016 * * Neither the name of the Intelligent Robotics Lab nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 *********************************************************************/ 00033 #ifndef POINT3D_H 00034 #define POINT3D_H 00035 00036 class CPoint3d 00037 { 00038 public: 00039 float x; 00040 00041 float y; 00042 00043 float z; 00044 00045 public: 00046 CPoint3d (void); 00047 00048 CPoint3d (float x, float y, float z); 00049 00050 ~CPoint3d (void); 00051 00052 CPoint3d (const CPoint3d & tmpP); 00053 00054 00055 CPoint3d & operator += (const CPoint3d & p); 00056 00057 CPoint3d & operator -= (const CPoint3d & p); 00058 00059 CPoint3d & operator *= (float s); 00060 00061 CPoint3d & operator /= (float s); 00062 00063 00064 friend bool operator > (const CPoint3d & p1, const CPoint3d & p2); 00065 00066 friend bool operator < (const CPoint3d & p1, const CPoint3d & p2); 00067 00068 friend bool operator == (const CPoint3d & p1, const CPoint3d & p2); 00069 00070 friend bool operator != (const CPoint3d & p1, const CPoint3d & p2); 00071 00072 friend CPoint3d operator + (const CPoint3d & p1, const CPoint3d & p2); 00073 00074 friend CPoint3d operator - (const CPoint3d & p1, const CPoint3d & p2); 00075 00076 friend CPoint3d operator * (const CPoint3d & p, float s); 00077 00078 friend float operator * (const CPoint3d & p1, const CPoint3d & p2); 00079 00080 friend CPoint3d operator / (const CPoint3d & p, float num); 00081 00082 friend CPoint3d operator ^ (const CPoint3d & p1, const CPoint3d & p2); 00083 00084 00085 // The distance between a point and origin 00086 float cpDist (void) const; 00087 00088 //Vector dot product 00089 float cpDot (const CPoint3d & p) const; 00090 00091 //The square of a vector model 00092 float cpSquaredNorm () const; 00093 00094 //The vector units 00095 CPoint3d & cpNormalize (); 00096 }; 00097 00098 #endif