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alpositionandvelocity.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_ALPOSITIONANDVELOCITY_H_
10 #define _LIBALMATH_ALMATH_TYPES_ALPOSITIONANDVELOCITY_H_
11
12 #include <vector>
13 #include <almath/api.h>
14
15 namespace AL {
16 namespace Math {
17
24 struct ALMATH_API PositionAndVelocity
25 {
27 float q;
29 float dq;
30
33
44 PositionAndVelocity(
48 const float pq = 0.0f,
49 const float pdq = 0.0f);
50
61 bool isNear(
62 const PositionAndVelocity& pDat2,
63 const float& pEpsilon=0.0001f) const;
64
65
69 void toVector(std::vector<float>& pReturnVector) const;
70 std::vector<float> toVector(void) const;
71 };
72
73 }
74 }
75 #endif // _LIBALMATH_ALMATH_TYPES_ALPOSITIONANDVELOCITY_H_
AL::Math::PositionAndVelocity
Create and play with a PositionAndVelocity.
Definition: alpositionandvelocity.h:24
AL::Math::PositionAndVelocity::dq
float dq
Definition: alpositionandvelocity.h:29
qi::geometry::isNear
bool isNear(const Transform &lhs, const Transform &rhs, double epsilon)
Definition: qigeometry.h:111
AL::Math::PositionAndVelocity::q
float q
Definition: alpositionandvelocity.h:27