pos.h

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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
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