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

# axis.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 __AXIS_H
    00025 #define __AXIS_H
    00026
    00027 #include <osg/Vec3>
    00028 #include <osg/Vec4>
    00029 #include <ode-dbl/ode.h>
    00030 #include <iostream>
    00031
    00032 namespace lpzrobots{
    00033
    00034   // class for axis. This is a internally a 4 dimensional vector (homogenenous) with last component = 0
    00035   //   meaning it is a direction not a point
    00036   class Axis : public osg::Vec4 {
    00037   public:
    00038     Axis () : osg::Vec4() {}
    00039     Axis (float x, float y, float z) : osg::Vec4(x, y, z, 0) {}
    00040     Axis (const osg::Vec4& v) : osg::Vec4(v) { w() =0; }
    00041     Axis (const osg::Vec3& v) : osg::Vec4(v,0) {}
    00042     Axis (const dReal v[3]) : osg::Vec4(v[0], v[1], v[2], 0) {}
    00043
    00044     osg::Vec3 vec3() const { return osg::Vec3( x(), y(), z()); }
    00045
    00046     float enclosingAngle(const Axis& a) const {
    00047       return acos((*this * a)/(this->length() * a.length()));
    00048     }
    00049
    00050     Axis crossProduct(const Axis& a) const {
    00051       return Axis(y()*a.z() - z()*a.y(), z()*a.x() - x()*a.z(), x()*a.y() - y()*a.x());
    00052     }
    00053
    00054     void print(){
    00055       std::cout << '(' << x() << ',' << y() << ',' << z() << ')' << std::endl;
    00056     }
    00057   };
    00058
    00059 }
    00060
    00061 #endif