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: pos.h,v $ 00023 * Revision 1.6 2010/03/09 11:53:41 martius 00024 * renamed globally ode to ode-dbl 00025 * 00026 * Revision 1.5 2010/03/05 14:32:55 martius 00027 * camera sensor added 00028 * for that the scenegraph structure was changed into root, world, scene 00029 * camera does not work with shadows 00030 * works with newest version of ode (0.11) 00031 * 00032 * Revision 1.4 2009/02/04 09:38:00 martius 00033 * operator * added 00034 * 00035 * Revision 1.3 2006/08/08 17:04:47 martius 00036 * added new sensor model 00037 * 00038 * Revision 1.2 2006/07/14 12:23:56 martius 00039 * selforg becomes HEAD 00040 * 00041 * Revision 1.1.2.4 2005/12/21 17:42:16 martius 00042 * toPosition 00043 * 00044 * Revision 1.1.2.3 2005/12/13 18:12:20 martius 00045 * some utils 00046 * 00047 * Revision 1.1.2.2 2005/12/12 23:42:14 martius 00048 * Pos is a class againt to have customisable Constructors 00049 * 00050 * Revision 1.1.2.1 2005/12/11 23:35:08 martius 00051 * *** empty log message *** 00052 * 00053 * 00054 ***************************************************************************/ 00055 #ifndef __POS_H 00056 #define __POS_H 00057 00058 #include <iostream> 00059 00060 #include <osg/Vec3> 00061 #include <osg/Vec4> 00062 #include <ode-dbl/ode.h> 00063 #include <selforg/position.h> 00064 00065 namespace lpzrobots{ 00066 00067 class Pos : public osg::Vec3 { 00068 public: 00069 Pos () : osg::Vec3 () {}; 00070 Pos (float x, float y, float z) : osg::Vec3(x, y, z) {} 00071 Pos (const osg::Vec3& v) : osg::Vec3(v) {} 00072 Pos (const osg::Vec4& v) : osg::Vec3(v.x(),v.y(),v.z()) {} 00073 Pos (const Position& p) : osg::Vec3(p.x, p.y, p.z) {} 00074 Pos (const dReal v[3]) : osg::Vec3(v[0], v[1], v[2]) {} 00075 00076 /// scaling 00077 Pos operator*(double f) const { return Pos(x()*f,y()*f,z()*f);} 00078 /// scalar product 00079 double operator*(const Pos& p) const { return p.x()*x() + p.y()*y() + p.z()*z();} 00080 00081 Position toPosition(){ 00082 return Position(x(), y(), z()); 00083 } 00084 00085 void print(){ 00086 std::cout << '(' << x() << ',' << y() << ',' << z() << ')' << std::endl; 00087 } 00088 }; 00089 00090 } 00091 00092 #endif