bros1.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAOBJ_BROS1_H
00012 #define ORCAOBJ_BROS1_H
00013 
00014 #include <orca/bros1.h>
00015 #include <Ice/Properties.h>
00016 
00017 namespace orcaobj
00018 {
00019 
00021 void setInit( orca::Frame2d&, double x=0.0, double y=0.0, double orient=0.0 );
00023 void setInit( orca::Frame3d&, double x=0.0, double y=0.0, double z=0.0, double pitch=0.0, double roll=0.0, double yaw=0.0 );
00025 void setInit( orca::Twist2d&, double vx=0.0, double vy=0.0, double w=0.0 );
00027 void setInit( orca::Twist3d&, double vx=0.0, double vy=0.0, double vz=0.0, double wx=0.0, double wy=0.0, double wz=0.0 );
00029 void setInit( orca::Size2d&, double l=0.0, double w=0.0 );
00031 void setInit( orca::Size3d&, double l=0.0, double w=0.0, double h=0.0 );
00033 void setInit( orca::CartesianPoint2d&, double x=0.0, double y=0.0 );
00035 void setInit( orca::CartesianPoint&, double x=0.0, double y=0.0, double z=0.0 );
00036 
00039 std::string toString( const orca::CartesianPoint& );
00042 int toCartesianPoint( const std::string &, orca::CartesianPoint& );
00043 
00046 std::string toString( const orca::CartesianPoint2d& );
00049 int toCartesianPoint2d( const std::string &, orca::CartesianPoint2d& );
00050 
00053 std::string toString( const orca::Frame2d& );
00056 int toFrame2d( const std::string &, orca::Frame2d& );
00057 
00060 std::string toString( const orca::Frame3d& );
00063 int toFrame3d( const std::string &, orca::Frame3d& );
00064 
00067 std::string toString( const orca::Size2d& );
00070 int toSize2d( const std::string &, orca::Size2d& );
00071 
00074 std::string toString( const orca::Size3d& );
00077 int toSize3d( const std::string &, orca::Size3d& );
00078 
00080 std::string toString( const orca::Twist2d& );
00081 
00085 int getPropertyAsFrame2d( const Ice::PropertiesPtr &, const ::std::string& key, orca::Frame2d &value );
00089 int getPropertyAsFrame3d( const Ice::PropertiesPtr &, const ::std::string& key, orca::Frame3d &value );
00092 int getPropertyAsSize2d( const Ice::PropertiesPtr &, const ::std::string& key, orca::Size2d &value );
00095 int getPropertyAsSize3d( const Ice::PropertiesPtr &, const ::std::string& key, orca::Size3d &value );
00098 int getPropertyAsCartesianPoint( const Ice::PropertiesPtr &, const ::std::string& key, orca::CartesianPoint &value );
00099 
00101 orca::Frame2d getPropertyAsFrame2dWithDefault( const Ice::PropertiesPtr &, const ::std::string& key, const orca::Frame2d &defaultValue );
00103 orca::Frame3d getPropertyAsFrame3dWithDefault( const Ice::PropertiesPtr &, const ::std::string& key, const orca::Frame3d &defaultValue );
00105 orca::Size2d getPropertyAsSize2dWithDefault( const Ice::PropertiesPtr &, const ::std::string& key, const orca::Size2d &defaultValue );
00107 orca::Size3d getPropertyAsSize3dWithDefault( const Ice::PropertiesPtr &, const ::std::string& key, const orca::Size3d &defaultValue );
00109 orca::CartesianPoint getPropertyAsCartesianPointWithDefault( const Ice::PropertiesPtr &, const ::std::string& key, const orca::CartesianPoint &defaultValue );
00110 
00112 orca::CartesianPoint2d rotate2d(const orca::CartesianPoint2d &point, const double &angle);
00113 
00115 orca::CartesianPoint rotate3dX(const orca::CartesianPoint &point, const double &angle);
00116 
00118 orca::CartesianPoint rotate3dY(const orca::CartesianPoint &point, const double &angle);
00119 
00121 orca::CartesianPoint rotate3dZ(const orca::CartesianPoint &point, const double &angle);
00122 
00124 orca::CartesianPoint2d convertToFrame2d(const orca::Frame2d &frame, const orca::CartesianPoint2d &point);
00125 
00127 orca::CartesianPoint convertToFrame3d(const orca::Frame3d &frame, const orca::CartesianPoint &point);
00128 
00130 orca::CartesianPoint2d convertFromFrame2d(const orca::Frame2d &frame, const orca::CartesianPoint2d &point);
00131 
00133 orca::CartesianPoint convertFromFrame3d(const orca::Frame3d &frame, const orca::CartesianPoint &point);
00134 
00136 // TODO: replace with autogenerated zeroAndClear()
00137 orca::Frame3d zeroFrame3d();
00138 
00139 } // namespace
00140 
00141 #endif