RigidBodyTransform.h
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00001 /*
00002  * Karto (tm) Robot Navigation Software - Software Development Kit
00003  * Release 2.1
00004  *
00005  * Copyright (C) 2006-2011, SRI International (R)
00006  *
00007  * The material contained in this release is copyrighted. It may not be copied,
00008  * reproduced, translated, reverse engineered, modified or reduced to any electronic
00009  * medium or machine-readable form without the prior written consent of
00010  * SRI International (R).
00011  *
00012  * Portions of files in this release may be unpublished work
00013  * containing SRI International (R) CONFIDENTIAL AND PROPRIETARY INFORMATION.
00014  * Disclosure, use, reverse engineering, modification, or reproduction without
00015  * written authorization of SRI International (R) is likewise prohibited.
00016  *
00017  * Karto (tm) is a Trademark of SRI International (R).
00018  *
00019  * Author(s): Benson Limketkai (bensonl@ai.sri.com)
00020  */
00021 
00022 #pragma once
00023 
00024 #ifndef __KARTO_RIGIDBODYTRANSFORM__
00025 #define __KARTO_RIGIDBODYTRANSFORM__
00026 
00027 #include <OpenKarto/Types.h>
00028 #include <OpenKarto/Macros.h>
00029 
00030 namespace karto
00031 {
00036   class KARTO_EXPORT RigidBodyTransform
00037   {
00038         private:
00039                 karto::Pose2 m_Transform;
00040                 karto::Pose2 m_InvTransform;
00041 
00042         public:
00047     RigidBodyTransform(const karto::Pose2& rPose);
00048 
00054     RigidBodyTransform(const karto::Pose2& rPose1, const karto::Pose2& rPose2);
00055 
00056         public:
00062     karto::Pose2 TransformPose(const karto::Pose2& rSourcePose);
00063 
00069     karto::Pose2 InverseTransformPose(const karto::Pose2& rSourcePose);
00070 
00071         private:
00077                 void SetTransform(const karto::Pose2& rPose1, const karto::Pose2& rPose2);
00078         }; // class RigidBodyTransform
00079 
00080 } // namespace karto
00081 
00082 #endif // __KARTO_RIGIDBODYTRANSFORM__
00083 
00084 


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Mon Oct 6 2014 02:44:17