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

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# axis.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: axis.h,v $
    00023  *   Revision 1.2  2006/07/14 12:23:55  martius
    00024  *   selforg becomes HEAD
    00025  *
    00026  *   Revision 1.1.2.1  2006/02/02 09:00:00  martius
    00027  *   axis type
    00028  *
    00029  *
    00030  ***************************************************************************/
    00031 #ifndef __AXIS_H
    00032 #define __AXIS_H
    00033
    00034 #include <osg/Vec3>
    00035 #include <osg/Vec4>
    00036 #include <ode/ode.h>
    00037 #include <iostream>
    00038
    00039 namespace lpzrobots{
    00040
    00041   // class for axis. This is a internally a 4 dimensional vector (homogenenous) with last component = 0
    00042   //   meaning it is a direction not a point
    00043   class Axis : public osg::Vec4 {
    00044   public:
    00045     Axis () : osg::Vec4() {}
    00046     Axis (float x, float y, float z) : osg::Vec4(x, y, z, 0) {}
    00047     Axis (const osg::Vec4& v) : osg::Vec4(v) { w() =0; }
    00048     Axis (const osg::Vec3& v) : osg::Vec4(v,0) {}
    00049     Axis (const dReal v[3]) : osg::Vec4(v[0], v[1], v[2], 0) {}
    00050
    00051     osg::Vec3 vec3() const { return osg::Vec3( x(), y(), z()); }
    00052
    00053     void print(){
    00054       std::cout << '(' << x() << ',' << y() << ',' << z() << ')' << std::endl;
    00055     }
    00056   };
    00057
    00058 }
    00059
    00060 #endif