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

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# position.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: position.h,v $
    00023  *   Revision 1.7  2009/10/27 17:06:07  martius
    00024  *   initialize array to avoid compiler warnings
    00025  *
    00026  *   Revision 1.6  2008/05/30 11:58:28  martius
    00027  *   use cmath instead of math.h
    00028  *
    00029  *   Revision 1.5  2007/12/06 07:48:43  der
    00030  *   added method print(), same as in class Pos (see ode_robots/utils)
    00031  *
    00032  *   Revision 1.4  2006/09/11 12:01:43  martius
    00033  *   *** empty log message ***
    00034  *
    00035  *   Revision 1.3  2006/08/11 15:48:24  martius
    00036  *   print
    00037  *
    00038  *   Revision 1.2  2006/07/14 12:24:02  martius
    00039  *   selforg becomes HEAD
    00040  *
    00041  *   Revision 1.1.2.1  2005/11/16 11:24:27  martius
    00042  *   moved to selforg
    00043  *
    00044  *   Revision 1.4  2005/11/09 13:31:51  martius
    00045  *   GPL'ised
    00046  *
    00047  ***************************************************************************/
    00048 #ifndef __POSITION_H
    00049 #define __POSITION_H
    00050
    00051 #include <iostream>
    00052 #include <cmath>
    00053
    00054 class Position
    00055 {
    00056 public:
    00057   Position(){x=y=z=0; array[0]=array[1]=array[2]=0;}
    00058   Position(double _x, double _y, double _z){ x=_x; y=_y; z=_z; }
    00059   ///  p MUST have a size of at least 3
    00060   Position(const double* p){ x=p[0]; y=p[1]; z=p[2]; }
    00061   const double* toArray(){ array[0]=x;array[1]=y; array[2]=z; return array; }
    00062   Position operator+(const Position& sum) const
    00063            { Position rv(x+sum.x, y+sum.y, z+sum.z); return rv; }
    00064   Position operator-(const Position& sum) const
    00065            { Position rv(x-sum.x, y-sum.y, z-sum.z); return rv; }
    00066   Position operator*(double f) const { Position rv(x*f, y*f, z*f); return rv; }
    00067
    00068   double length() { return sqrt(x*x+y*y+z*z);  }
    00069
    00070   double x;
    00071   double y;
    00072   double z;
    00073
    00074   void print(){
    00075     std::cout << '(' << x << ',' << y << ',' << z << ')' << std::endl;
    00076   }
    00077
    00078 private:
    00079   double array[3];
    00080 };
    00081
    00082 #endif