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libalmath
1.12
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almath/types/alposition6d.h
00001 /* 00002 ** Author(s): 00003 ** - Chris Kilner 00004 ** - Cyrille Collette 00005 ** - David Gouaillier 00006 ** 00007 ** Copyright (C) 2011 Aldebaran Robotics 00008 */ 00009 00010 00011 #pragma once 00012 #ifndef _LIBALMATH_ALMATH_TYPES_ALPOSITION6D_H_ 00013 #define _LIBALMATH_ALMATH_TYPES_ALPOSITION6D_H_ 00014 00015 #include <vector> 00016 00017 namespace AL { 00018 namespace Math { 00019 00026 struct Position6D { 00028 float x; 00030 float y; 00032 float z; 00034 float wx; 00036 float wy; 00038 float wz; 00039 00042 00061 00062 Position6D(); 00063 00066 00085 00086 00087 00088 explicit Position6D(float pInit); 00089 00092 00111 00112 00113 00114 00115 00116 00117 00118 Position6D( 00119 float pX, 00120 float pY, 00121 float pZ, 00122 float pWx, 00123 float pWy, 00124 float pWz); 00125 00128 00147 00148 00149 00150 00151 00152 Position6D(const std::vector<float>& pFloats); 00153 00158 Position6D operator+ (const Position6D& pPos2) const; 00159 00164 Position6D operator- (const Position6D& pPos2) const; 00165 00169 Position6D operator+ () const; 00170 00174 Position6D operator- () const; 00175 00180 Position6D& operator+= (const Position6D& pPos2); 00181 00186 Position6D& operator-= (const Position6D& pPos2); 00187 00192 bool operator== (const Position6D& pPos2) const; 00193 00198 bool operator!= (const Position6D& pPos2) const; 00199 00204 Position6D operator* (float pVal) const; 00205 00210 Position6D operator/ (float pVal) const; 00211 00216 Position6D& operator*= (float pVal); 00217 00222 Position6D& operator/= (float pVal); 00223 00235 bool isNear( 00236 const Position6D& pPos2, 00237 const float& pEpsilon=0.0001f) const; 00238 00249 float distanceSquared(const Position6D& pPos2) const; 00250 00261 float distance(const Position6D& pPos2) const; 00262 00271 float norm() const; 00272 00276 std::vector<float> toVector () const; 00277 }; // end struct 00278 00279 00292 float distanceSquared( 00293 const Position6D& pPos1, 00294 const Position6D& pPos2); 00295 00296 00308 float distance( 00309 const Position6D& pPos1, 00310 const Position6D& pPos2); 00311 00322 float norm(const Position6D& pPos); 00323 00334 Position6D normalize(const Position6D& pPos); 00335 00336 } // end namespace math 00337 } // end namespace al 00338 00339 #endif // _LIBALMATH_ALMATH_TYPES_ALPOSITION6D_H_