datastructsManipulator.h

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#ifndef __DATASTRUCTS_MANIPULATOR_H_
#define __DATASTRUCTS_MANIPULATOR_H_

#include <schunk_powercube_chain/Joint.h>
#include <iostream>

// never in headerfiles!
// using namespace std;

#ifdef SWIG
%module PowerCubeCtrl
%{
        #include <schunk_powercube_chain/datastructsManipulator.h>
%}
#endif 


struct Point3D {
    double x;
    double y;
    double z;
};

struct AbsPos {
        AbsPos() : Eulerx(0.0), Eulery(0.0), Eulerz(0.0), Transx(0.0), Transy(0.0), Transz(0.0) {;}
        // Bitte beachten: Es werden von nun an XYZ-fixed Winkel benutzt
        // (Siehe Craig, S.45ff)
        // welche gleichbedeutend mit den Euler-ZYX Winkeln sind.
        // Die Bezeichnungen Eulerx, Eulery, Eulerz werden daher beibehalten. 
    double Eulerx;
    double Eulery;
    double Eulerz;
    double Transx;
    double Transy;
    double Transz;
        void set(double* p);
        void setTransX(double transx) {Transx=transx;}
        void setTransY(double transy) {Transy=transy;}
        void setTransZ(double transz) {Transz=transz;}
        void setEulerX(double eulerx) {Eulerx=eulerx;}
        void setEulerY(double eulery) {Eulery=eulery;}
        void setEulerZ(double eulerz) {Eulerz=eulerz;}
        double getTransX() {return Transx;}
        double getTransY() {return Transy;}
        double getTransZ() {return Transz;}
        double getEulerX() {return Eulerx;}
        double getEulerY() {return Eulery;}
        double getEulerZ() {return Eulerz;}
        void angleScale(double s);
        void toDeg() { angleScale(57.295779524); }
        void toRad() { angleScale(0.017453292); }
        AbsPos operator*(double s) const;
        AbsPos operator+(const AbsPos& abs2) const;
        AbsPos operator-(const AbsPos& abs2) const;
        double getPosLength() const { return sqrt(Transx*Transx + Transy*Transy + Transz*Transz); }
        double distMeasure(AbsPos otherPos) const;
};

std::ostream& operator<< (std::ostream& os, const AbsPos& a);


inline AbsPos operator* (double s, const AbsPos& abs) { return abs * s; }



struct DH {
    Jointd  a;
    Jointd  d;
    Jointd  alpha;
    Jointd  theta;
};

struct LimitsTheta {
    Jointd max;
    Jointd min; 
};


#endif //__DATASTRUCTS_MANIPULATOR_H_