Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef BROS_1_H
00012 #define BROS_1_H
00013 
00014 // Definitions in this file are based on the discussion in the Player mailing list
00015 // taken place in 2003. Specifically, these are C++ encoding of standard
00016 // definitions proposed by Herman Bruyninckx.
00017 
00018 namespace hydrobros1
00019 {
00020 
00021 // One dimensional ("linear") objects
00022 
00024 typedef double Dimension;
00026 typedef int DiscreteDimension;
00028 typedef double RotationAngle; 
00030 typedef double OrientationAngle;
00032 typedef double HeadingAngle;
00034 typedef double AngularVelocity2d;
00036 typedef double AngularAcceleration2d;
00038 typedef double Moment2d;
00039 
00040 
00041 // Two-dimensional ("planar") objects
00042 
00044 struct CartesianPoint2d
00045 {
00047     CartesianPoint2d( const double& xin=0.0, const double& yin=0.0 ) :
00048         x(xin), y(yin) {};
00050     double x;
00052     double y;
00053 };
00055 struct CartesianVelocity2d
00056 {
00058     CartesianVelocity2d( const double& xin=0.0, const double& yin=0.0 ) :
00059         x(xin), y(yin) {};
00061     double x;
00063     double y;
00064 };
00066 struct CartesianAcceleration2d
00067 {
00069     CartesianAcceleration2d( const double& xin=0.0, const double& yin=0.0 ) :
00070         x(xin), y(yin) {};
00072     double x;
00074     double y;
00075 };
00077 struct PolarPoint2d
00078 {
00080     PolarPoint2d( const double& rin=0.0, const double& oin=0.0 ) :
00081         r(rin), o(oin) {};
00083     double r;
00085     OrientationAngle o;
00086 };
00088 struct PolarVelocity2d
00089 {
00091     PolarVelocity2d( const double& rin=0.0, const double& oin=0.0 ) :
00092         r(rin), o(oin) {};
00094     double r;
00096     OrientationAngle o;
00097 };
00099 struct PolarAcceleration2d
00100 {
00102     PolarAcceleration2d( const double& rin=0.0, const double& oin=0.0 ) :
00103         r(rin), o(oin) {};
00105     double r;
00107     OrientationAngle o;
00108 };
00110 struct Vector2d
00111 {
00113     Vector2d( const double& xin=0.0, const double& yin=0.0 ) :
00114         x(xin), y(yin) {};
00116     double x;
00118     double y;
00119 };
00121 struct Frame2d
00122 {
00124     Frame2d( const double& px=0.0, const double& py=0.0, const double& oin=0.0 ) :
00125         p(px,py), o(oin) {};
00127     Frame2d( const CartesianPoint2d& pin, const double& oin=0.0 ) :
00128         p(pin.x,pin.y), o(oin) {};
00130     CartesianPoint2d p;
00132     OrientationAngle o;
00133 };
00135 struct Twist2d
00136 {
00138     Twist2d( const double& vx=0.0, const double& vy=0.0, const double& win=0.0 ) :
00139         v(vx,vy), w(win) {};
00141     Twist2d( const CartesianVelocity2d& vin, const double& win=0.0 ) :
00142         v(vin.x,vin.y), w(win) {};
00144     CartesianVelocity2d v;
00146     AngularVelocity2d w;
00147 };
00149 struct Force2d
00150 {
00152     Force2d( const double& xin=0.0, const double& yin=0.0 ) :
00153         x(xin), y(yin) {};
00155     double x;
00157     double y;
00158 };
00160 struct Wrench2d
00161 {
00163     Wrench2d( const double& fx=0.0, const double& fy=0.0, const double& min=0.0 ) :
00164         f(fx,fy), m(min) {};
00166     Wrench2d( const Force2d& fin, const double& min=0.0 ) :
00167         f(fin.x,fin.y), m(min) {};
00169     Force2d f;
00171     Moment2d m;
00172 };
00174 struct Size2d
00175 {
00177     Size2d( const double& lin=0.0, const double& win=0.0 ) :
00178         l(lin), w(win) {};
00180     double l;
00182     double w;
00183 };
00185 struct DiscreteSize2d
00186 {
00188     DiscreteSize2d( int lin=0, int win=0 ) :
00189         l(lin), w(win) {};
00191     int l;
00193     int w;
00194 };
00195 
00196 // Three-dimensional objects
00197 
00199 struct CartesianPoint3d
00200 {
00202     CartesianPoint3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
00203         x(xin), y(yin), z(zin) {};
00205     double x;
00207     double y;
00209     double z;
00210 };
00212 struct CartesianVector3d
00213 {
00215     CartesianVector3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
00216         x(xin), y(yin), z(zin) {};
00218     double x;
00220     double y;
00222     double z;
00223 };
00225 struct CartesianVelocity3d
00226 {
00228     CartesianVelocity3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
00229         x(xin), y(yin), z(zin) {};
00231     double x;
00233     double y;
00235     double z;
00236 };
00238 struct CartesianAcceleration3d
00239 {
00241     CartesianAcceleration3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
00242         x(xin), y(yin), z(zin) {};
00244     double x;
00246     double y;
00248     double z;
00249 };
00251 struct AngularVelocity3d
00252 {
00254     AngularVelocity3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
00255         x(xin), y(yin), z(zin) {};
00257     double x;
00259     double y;
00261     double z;
00262 };
00264 struct AngularAcceleration3d
00265 {
00267     AngularAcceleration3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
00268         x(xin), y(yin), z(zin) {};
00270     double x;
00272     double y;
00274     double z;
00275 };
00277 struct Force3d
00278 {
00280     Force3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
00281         x(xin), y(yin), z(zin) {};
00283     double x;
00285     double y;
00287     double z;
00288 };
00290 struct Moment3d
00291 {
00293     Moment3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
00294         x(xin), y(yin), z(zin) {};
00296     double x;
00298     double y;
00300     double z;
00301 };
00303 struct Twist3d
00304 {
00306     Twist3d( const double& vx=0.0, const double& vy=0.0, const double& vz=0.0,
00307              const double& wx=0.0, const double& wy=0.0, const double& wz=0.0 ) :
00308         v(vx,vy,vz), w(wx,wy,wz) {};
00310     Twist3d( const CartesianVelocity3d& vin, const AngularVelocity3d& win ) :
00311         v(vin.x,vin.y,vin.z), w(win.x,win.y,win.z) {};
00313     CartesianVelocity3d v;
00315     AngularVelocity3d w;
00316 };
00318 struct Wrench3d
00319 {
00321     Wrench3d( const double& fx=0.0, const double& fy=0.0, const double& fz=0.0,
00322               const double& mx=0.0, const double& my=0.0, const double& mz=0.0 ) :
00323         f(fx,fy,fz), m(mx,my,mz) {};
00325     Wrench3d( const Force3d& fin, const Moment3d& min ) :
00326         f(fin.x,fin.y,fin.z), m(min.x,min.y,min.z) {};
00328     Force3d  f;
00330     Moment3d m;
00331 };
00333 struct OrientationE3d
00334 {
00336     OrientationE3d( const double& rin=0.0, const double& pin=0.0, const double& yin=0.0 ) :
00337         r(rin), p(pin), y(yin) {};
00339     OrientationAngle r;
00341     OrientationAngle p;
00343     OrientationAngle y;
00344 };
00346 struct Frame3d
00347 {
00349     Frame3d( const double& px=0.0, const double& py=0.0, const double& pz=0.0,
00350              const double& oroll=0.0, const double& op=0.0, const double& oy=0.0 ) :
00351         p(px,py,pz), o(oroll,op,oy) {};
00353     Frame3d( const CartesianPoint3d& pin, const OrientationE3d& oin ) :
00354         p(pin.x,pin.y,pin.z), o(oin.r,oin.p,oin.y) {};
00356     CartesianPoint3d p;
00358     OrientationE3d   o;
00359 };
00361 struct Size3d
00362 {
00364     Size3d( const double& lin=0.0, const double& win=0.0, const double& hin=0.0 ) :
00365         l(lin), w(win), h(hin) {};
00367     Dimension l;
00369     Dimension w;
00371     Dimension h;
00372 };
00374 struct DiscreteSize3d
00375 {
00377     DiscreteSize3d( int lin=0, int win=0, int hin=0 ) :
00378         l(lin), w(win), h(hin) {};
00380     DiscreteDimension l;
00382     DiscreteDimension w;
00384     DiscreteDimension h;
00385 };
00386 
00387 }; // namespace
00388 
00389 #endif
types.h
