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altransformandvelocity6d.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 _LIBALMATH_ALMATH_TYPES_ALTRANSFORMANDVELOCITY6D_H_
10 #define _LIBALMATH_ALMATH_TYPES_ALTRANSFORMANDVELOCITY6D_H_
11
12 #include <almath/api.h>
13 #include <almath/types/altransform.h>
14 #include <almath/types/alvelocity6d.h>
15
16 namespace AL {
17 namespace Math {
18
22 struct ALMATH_API TransformAndVelocity6D
23 {
25 AL::Math::Transform T;
27 AL::Math::Velocity6D V;
28
29 TransformAndVelocity6D();
30
34 TransformAndVelocity6D(
35 const AL::Math::Transform& pT,
36 const AL::Math::Velocity6D& pV);
37
48 bool isNear(
49 const TransformAndVelocity6D& pTV2,
50 const float& pEpsilon=0.0001f) const;
51
52 };
53
54 }
55 }
56 #endif // _LIBALMATH_ALMATH_TYPES_ALTRANSFORMANDVELOCITY6D_H_
57
AL::Math::Velocity6D
Create and play with a Velocity6D.
Definition: alvelocity6d.h:25
qi::geometry::isNear
bool isNear(const Transform &lhs, const Transform &rhs, double epsilon)
Definition: qigeometry.h:111
AL::Math::TransformAndVelocity6D
Struct composed of a Transform and a Velocity6D
Definition: altransformandvelocity6d.h:22
alvelocity6d.h
AL::Math::TransformAndVelocity6D::V
AL::Math::Velocity6D V
Definition: altransformandvelocity6d.h:27
altransform.h
AL::Math::Transform
A homogenous transformation matrix.
Definition: altransform.h:23
AL::Math::TransformAndVelocity6D::T
AL::Math::Transform T
Definition: altransformandvelocity6d.h:25