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libalmath
1.12
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almath/types/alvelocity6d.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_ALVELOCITY6D_H_ 00013 #define _LIBALMATH_ALMATH_TYPES_ALVELOCITY6D_H_ 00014 00015 #include <vector> 00016 00017 namespace AL { 00018 namespace Math { 00019 00020 00027 struct Velocity6D { 00029 float xd; 00031 float yd; 00033 float zd; 00035 float wxd; 00037 float wyd; 00039 float wzd; 00040 00043 00062 00063 Velocity6D(); 00064 00067 00086 00087 00088 00089 explicit Velocity6D(float pInit); 00090 00093 00112 00113 00114 00115 00116 00117 00118 00119 Velocity6D( 00120 float pXd, 00121 float pYd, 00122 float pZd, 00123 float pWxd, 00124 float pWyd, 00125 float pWzd); 00126 00129 00148 00149 00150 00151 00152 00153 00154 Velocity6D(const std::vector<float>& pFloats); 00155 00160 Velocity6D operator+ (const Velocity6D& pVel2) const; 00161 00166 Velocity6D operator- (const Velocity6D& pVel2) const; 00167 00171 Velocity6D operator+ () const; 00172 00176 Velocity6D operator- () const; 00177 00182 Velocity6D operator* (const float pVal) const; 00183 00188 Velocity6D operator/ (const float pVal) const; 00189 00194 bool operator== (const Velocity6D& pVel2) const; 00195 00200 bool operator!= (const Velocity6D& pVel2) const; 00201 00206 Velocity6D& operator*= (const float pVal); 00207 00212 Velocity6D& operator/= (const float pVal); 00213 00224 bool isNear( 00225 const Velocity6D& pVel2, 00226 const float& pEpsilon=0.0001f) const; 00227 00236 float norm() const; 00237 00246 Velocity6D normalize() const; 00247 00251 std::vector<float> toVector() const; 00252 }; // end struct 00253 00259 Velocity6D operator* ( 00260 const float pVal, 00261 const Velocity6D& pVel); 00262 00273 float norm(const Velocity6D& pVel); 00274 00285 Velocity6D normalize(const Velocity6D& pVel); 00286 00287 } // end namespace Math 00288 } // end namespace AL 00289 #endif // _LIBALMATH_ALMATH_TYPES_ALVELOCITY6D_H_