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 copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 /*
00012  A bunch of utilities for:
00013   - rotating points (as vectors).
00014   - converting points between frames.
00015 
00016   for further reading:
00017 
00018   http://kwon3d.com/theory/transform/rot.html
00019   http://mathworld.wolfram.com/EulerAngles.html
00020 
00021 */
00022 
00023 #ifndef ORCAOBJ_FRAMEUTILS_H
00024 #define ORCAOBJ_FRAMEUTILS_H
00025 
00026 #include <orca/bros1.h>
00027 
00028 namespace orcaobj
00029 {
00031     orca::CartesianPoint2d rotate2d(const orca::CartesianPoint2d &point, const double &angle);
00032 
00034     orca::CartesianPoint rotate3dX(const orca::CartesianPoint &point, const double &angle);
00035 
00037     orca::CartesianPoint rotate3dY(const orca::CartesianPoint &point, const double &angle);
00038 
00040     orca::CartesianPoint rotate3dZ(const orca::CartesianPoint &point, const double &angle);
00041 
00043     orca::CartesianPoint2d convertToFrame2d(const orca::Frame2d &frame, const orca::CartesianPoint2d &point);
00044 
00046     orca::CartesianPoint convertToFrame3d(const orca::Frame3d &frame, const orca::CartesianPoint &point);
00047 
00049     orca::CartesianPoint2d convertFromFrame2d(const orca::Frame2d &frame, const orca::CartesianPoint2d &point);
00050 
00052     orca::CartesianPoint convertFromFrame3d(const orca::Frame3d &frame, const orca::CartesianPoint &point);
00053 
00055     orca::Frame3d zeroFrame3d();
00056 }
00057 
00058 #endif
frameutils.h
