velocity.h

00001 /*
00002  * Orca Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks
00005  *
00006  * This copy of Orca is licensed to you under the terms described in the
00007  * ORCA_LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDRONAVUTIL_VELOCITY_H
00012 #define HYDRONAVUTIL_VELOCITY_H
00013 
00014 #include <string>
00015 #include <iostream>
00016 
00017 namespace hydronavutil {
00018 
00024 class Velocity
00025 {
00026 
00027 public: 
00029     Velocity() {};
00031     Velocity( double lin, double rot )
00032         : lin_(lin), rot_(rot) {}
00033 
00035     double lin() const { return lin_; }
00037     double rot() const { return rot_; }
00038 
00040     double &lin() { return lin_; }
00042     double &rot() { return rot_; }
00043 
00044 private: 
00045 
00046     double lin_, rot_;
00047 
00048 };
00049 std::ostream &operator<<( std::ostream &s, const Velocity &v );
00050 
00058 class Acceleration
00059 {
00060 
00061 public: 
00062 
00064     Acceleration() {};
00066     Acceleration( double lin, double rot )
00067         : lin_(lin), rot_(rot) {}
00068     
00070     double lin() const { return lin_; }
00072     double rot() const { return rot_; }
00073 
00075     double &lin() { return lin_; }
00077     double &rot() { return rot_; }
00078 
00079 private: 
00080 
00081     double lin_, rot_;
00082 
00083 };
00084 std::ostream &operator<<( std::ostream &s, const Acceleration &v );
00085 
00086 }
00087 
00088 #endif