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aldisplacement.h
Go to the documentation of this file.
1 /*
2 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
3 * Use of this source code is governed by a BSD-style license that can be
4 * found in the COPYING file.
5 */
6
7
8 #pragma once
9 #ifndef ALDISPLACEMENT_H
10 #define ALDISPLACEMENT_H
11
12 #include <almath/types/alposition3d.h>
13 #include <almath/types/alquaternion.h>
14 #include <almath/api.h>
15
16 namespace AL {
17 namespace Math {
18
22 struct ALMATH_API Displacement
23 {
25 Position3D P;
27 Quaternion Q;
28
32 explicit Displacement();
33
41 Displacement(
42 const Position3D& pos3d,
43 const Quaternion& quat = Quaternion());
44
53 Displacement& operator*=(const Displacement& pDisp);
54
62 Displacement operator*(const Displacement& pDisp);
63
73 bool isNear(
74 const Displacement& pDisp2,
75 const float pEpsilon=0.0001f) const;
76
77 };
78
79 }
80 }
81
82 #endif // ALDISPLACEMENT_H
alposition3d.h
qi::geometry::isNear
bool isNear(const Transform &lhs, const Transform &rhs, double epsilon)
Definition: qigeometry.h:111
AL::Math::Displacement
Struct composed of a Position3D and a Quaternion
Definition: aldisplacement.h:22
AL::Math::Position3D
Create and play with a Position3D.
Definition: alposition3d.h:24
AL::Math::Displacement::Q
Quaternion Q
Rotation of the Displacement
Definition: aldisplacement.h:27
AL::Math::Displacement::P
Position3D P
Translation of the Displacement
Definition: aldisplacement.h:25
AL::Math::Quaternion
Create and play with a Quaternion.
Definition: alquaternion.h:24
AL::Math::operator*
ALMATH_API Position3D operator*(const Rotation &pRot, const Position3D &pPos)
Overloading of operator * between Rotation and Position3D:
alquaternion.h