trackable.h

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/***************************************************************************
 *   Copyright (C) 2005 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.de                                        *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 *   $Log: trackable.h,v $
 *   Revision 1.4  2008/04/28 11:10:11  guettler
 *   include "matrix.h" from trackable class removed, used forward declaration
 *   instead - this change effectuates that no robot must be recompiled if
 *   matrix.h has changed.
 *
 *   Revision 1.3  2007/04/05 15:13:21  martius
 *   angular speed tracking
 *
 *   Revision 1.2  2006/07/14 12:23:57  martius
 *   selforg becomes HEAD
 *
 *   Revision 1.1.2.6  2006/07/10 11:59:23  martius
 *   Matrixlib now in selforg
 *   no namespace std in header files
 *
 *   Revision 1.1.2.5  2006/03/30 12:35:09  martius
 *   documentation updated
 *
 *   Revision 1.1.2.4  2006/01/31 15:47:37  martius
 *   virtual destructor
 *
 *   Revision 1.1.2.3  2005/12/11 23:35:08  martius
 *   *** empty log message ***
 *
 *   Revision 1.1.2.2  2005/11/16 11:23:30  martius
 *   const
 *
 *   Revision 1.1.2.1  2005/11/14 17:37:56  martius
 *   moved to selforg
 *
 *                                                                 *
 ***************************************************************************/
#ifndef __TRACKABLE_H
#define __TRACKABLE_H

#include <selforg/position.h>
//#include <selforg/matrix.h>

namespace matrix {
  class Matrix;
}

/**
 * Abstract class (interface) for trackable objects (used for robots)
 *
 *
 */
class Trackable{
public:

  /**
   * Constructor
   */
  Trackable(){
  };

  virtual ~Trackable() {};

  /** returns position of the object
      @return vector of position (x,y,z)
   */
  virtual Position getPosition() const =0;

  /** returns linear speed vector of the object
      @return vector  (vx,vy,vz)
   */
  virtual Position getSpeed() const =0;

  /** returns angular velocity vector of the object
      @return vector  (wx,wy,wz)
   */
  virtual Position getAngularSpeed() const =0;

  /** returns the orientation of the object
      @return 3x3 rotation matrix
   */
  virtual matrix::Matrix getOrientation() const =0;

};

#endif

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