almath/tools/almath.h

/*
** Author(s):
**  - Chris Kilner
**  - Cyrille Collette
**  - David Gouaillier
**
** Copyright (C) 2011 Aldebaran Robotics
*/


#pragma once
#ifndef _LIBALMATH_ALMATH_TOOLS_ALMATH_H_
#define _LIBALMATH_ALMATH_TOOLS_ALMATH_H_

#include <almath/types/alvelocity6d.h>
#include <almath/types/alposition3d.h>
#include <almath/types/alposition6d.h>
#include <almath/types/alrotation.h>

namespace AL {
  namespace Math {

  bool clipData(
    const float& pMin,
    const float& pMax,
    float&       pData);










    Position6D position6DFromVelocity6D(const Velocity6D& pVel);











    Position3D operator*(
      const Rotation&   pRot,
      const Position3D& pPos);











    Velocity6D operator*(
      const float       pVal,
      const Position6D& pPos);


    Rotation rotationFromAngleDirection(
      const float&      pTheta,
      const Position3D& pPos);


  } // namespace Math
} // namespace AL
#endif  // _LIBALMATH_ALMATH_TOOLS_ALMATH_H_