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00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, 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 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef PLUGINLIB_TUTORIALS_POLYGON_PLUGINS_H_ 00038 #define PLUGINLIB_TUTORIALS_POLYGON_PLUGINS_H_ 00039 #include <pluginlib_tutorials/polygon_base.h> 00040 #include <cmath> 00041 00042 namespace polygon_plugins 00043 { 00044 class Triangle : public polygon_base::RegularPolygon 00045 { 00046 public: 00047 Triangle(){} 00048 00049 void initialize(double side_length) 00050 { 00051 side_length_ = side_length; 00052 } 00053 00054 double area() 00055 { 00056 return 0.5 * side_length_ * getHeight(); 00057 } 00058 00059 double getHeight() 00060 { 00061 return sqrt((side_length_ * side_length_) - ((side_length_ / 2) * (side_length_ / 2))); 00062 } 00063 00064 private: 00065 double side_length_; 00066 }; 00067 00068 class Square : public polygon_base::RegularPolygon 00069 { 00070 public: 00071 Square(){} 00072 00073 void initialize(double side_length) 00074 { 00075 side_length_ = side_length; 00076 } 00077 00078 double area() 00079 { 00080 return side_length_ * side_length_; 00081 } 00082 00083 private: 00084 double side_length_; 00085 00086 }; 00087 }; 00088 #endif