Robot Simulator of the Robotics Group for Self-Organization of Control: trackable.h Source File

# trackable.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __TRACKABLE_H
    00025 #define __TRACKABLE_H
    00026
    00027 #include <selforg/position.h>
    00028 //#include <selforg/matrix.h>
    00029
    00030 namespace matrix {
    00031   class Matrix;
    00032 }
    00033
    00034 /**
    00035  * Abstract class (interface) for trackable objects (used for robots)
    00036  *
    00037  *
    00038  */
    00039 class Trackable{
    00040 public:
    00041
    00042   /**
    00043    * Constructor
    00044    */
    00045   Trackable(){
    00046   };
    00047
    00048   virtual ~Trackable() {};
    00049
    00050   /** returns name of trackable
    00051    */
    00052   virtual std::string getTrackableName() const =0;
    00053
    00054   /** returns position of the object
    00055       @return vector of position (x,y,z)
    00056    */
    00057   virtual Position getPosition() const =0;
    00058
    00059   /** returns linear speed vector of the object
    00060       @return vector  (vx,vy,vz)
    00061    */
    00062   virtual Position getSpeed() const =0;
    00063
    00064   /** returns angular velocity vector of the object
    00065       @return vector  (wx,wy,wz)
    00066    */
    00067   virtual Position getAngularSpeed() const =0;
    00068
    00069   /** returns the orientation of the object
    00070       @return 3x3 rotation matrix
    00071    */
    00072   virtual matrix::Matrix getOrientation() const =0;
    00073
    00074 };
    00075
    00076 #endif
    00077