Robotsystem of the Robot Group Leipzig: trackable.h Source File

- Main Page
- Namespaces
- Classes
- Files
- Directories
- Related Pages
- Examples

- Search for |

- File List
- File Members

# trackable.h

Go to the documentation of this file.

    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: trackable.h,v $
    00023  *   Revision 1.4  2008/04/28 11:10:11  guettler
    00024  *   include "matrix.h" from trackable class removed, used forward declaration
    00025  *   instead - this change effectuates that no robot must be recompiled if
    00026  *   matrix.h has changed.
    00027  *
    00028  *   Revision 1.3  2007/04/05 15:13:21  martius
    00029  *   angular speed tracking
    00030  *
    00031  *   Revision 1.2  2006/07/14 12:23:57  martius
    00032  *   selforg becomes HEAD
    00033  *
    00034  *   Revision 1.1.2.6  2006/07/10 11:59:23  martius
    00035  *   Matrixlib now in selforg
    00036  *   no namespace std in header files
    00037  *
    00038  *   Revision 1.1.2.5  2006/03/30 12:35:09  martius
    00039  *   documentation updated
    00040  *
    00041  *   Revision 1.1.2.4  2006/01/31 15:47:37  martius
    00042  *   virtual destructor
    00043  *
    00044  *   Revision 1.1.2.3  2005/12/11 23:35:08  martius
    00045  *   *** empty log message ***
    00046  *
    00047  *   Revision 1.1.2.2  2005/11/16 11:23:30  martius
    00048  *   const
    00049  *
    00050  *   Revision 1.1.2.1  2005/11/14 17:37:56  martius
    00051  *   moved to selforg
    00052  *
    00053  *                                                                 *
    00054  ***************************************************************************/
    00055 #ifndef __TRACKABLE_H
    00056 #define __TRACKABLE_H
    00057
    00058 #include <selforg/position.h>
    00059 //#include <selforg/matrix.h>
    00060
    00061 namespace matrix {
    00062   class Matrix;
    00063 }
    00064
    00065 /**
    00066  * Abstract class (interface) for trackable objects (used for robots)
    00067  *
    00068  *
    00069  */
    00070 class Trackable{
    00071 public:
    00072
    00073   /**
    00074    * Constructor
    00075    */
    00076   Trackable(){
    00077   };
    00078
    00079   virtual ~Trackable() {};
    00080
    00081   /** returns position of the object
    00082       @return vector of position (x,y,z)
    00083    */
    00084   virtual Position getPosition() const =0;
    00085
    00086   /** returns linear speed vector of the object
    00087       @return vector  (vx,vy,vz)
    00088    */
    00089   virtual Position getSpeed() const =0;
    00090
    00091   /** returns angular velocity vector of the object
    00092       @return vector  (wx,wy,wz)
    00093    */
    00094   virtual Position getAngularSpeed() const =0;
    00095
    00096   /** returns the orientation of the object
    00097       @return 3x3 rotation matrix
    00098    */
    00099   virtual matrix::Matrix getOrientation() const =0;
    00100
    00101 };
    00102
    00103 #endif
    00104