polygon_plugins.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2013, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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00034 *
00035 * Author: Eitan Marder-Eppstein
00036 * Author: Isaac Saito
00037 *********************************************************************/
00038 #ifndef PLUGINLIB_TUTORIALS_POLYGON_PLUGINS_H_
00039 #define PLUGINLIB_TUTORIALS_POLYGON_PLUGINS_H_
00040 #include <pluginlib_tutorials/polygon_base.h>
00041 #include <cmath>
00042 
00043 namespace polygon_plugins 
00044 {
00045   class Triangle : public polygon_base::RegularPolygon
00046   {
00047     public:
00048       Triangle() : side_length_() {}
00049 
00050       void initialize(double side_length)
00051       {
00052         side_length_ = side_length;
00053       }
00054 
00055       double area()
00056       {
00057         return 0.5 * side_length_ * getHeight();
00058       }
00059 
00060       double getHeight()
00061       {
00062         return sqrt((side_length_ * side_length_) - ((side_length_ / 2) * (side_length_ / 2)));
00063       }
00064 
00065     private:
00066       double side_length_;
00067   };
00068 
00069   class Square : public polygon_base::RegularPolygon
00070   {
00071     public:
00072       Square() : side_length_() {}
00073 
00074       void initialize(double side_length)
00075       {
00076         side_length_ = side_length;
00077       }
00078 
00079       double area()
00080       {
00081         return side_length_ * side_length_;
00082       }
00083 
00084     private:
00085       double side_length_;
00086 
00087   };
00088 };
00089 #endif


pluginlib_tutorials
Author(s): Eitan Marder-Eppstein
autogenerated on Sun Oct 5 2014 23:14:54