hydrolibs/hydrobros1/types.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This distribution is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef BROS_1_H
#define BROS_1_H

// Definitions in this file are based on the discussion in the Player mailing list
// taken place in 2003. Specifically, these are C++ encoding of standard
// definitions proposed by Herman Bruyninckx.

namespace hydrobros1
{

// One dimensional ("linear") objects

typedef double Dimension;
typedef int DiscreteDimension;
typedef double RotationAngle; 
typedef double OrientationAngle;
typedef double HeadingAngle;
typedef double AngularVelocity2d;
typedef double AngularAcceleration2d;
typedef double Moment2d;


// Two-dimensional ("planar") objects

struct CartesianPoint2d
{
    CartesianPoint2d( const double& xin=0.0, const double& yin=0.0 ) :
        x(xin), y(yin) {};
    double x;
    double y;
};
struct CartesianVelocity2d
{
    CartesianVelocity2d( const double& xin=0.0, const double& yin=0.0 ) :
        x(xin), y(yin) {};
    double x;
    double y;
};
struct CartesianAcceleration2d
{
    CartesianAcceleration2d( const double& xin=0.0, const double& yin=0.0 ) :
        x(xin), y(yin) {};
    double x;
    double y;
};
struct PolarPoint2d
{
    PolarPoint2d( const double& rin=0.0, const double& oin=0.0 ) :
        r(rin), o(oin) {};
    double r;
    OrientationAngle o;
};
struct PolarVelocity2d
{
    PolarVelocity2d( const double& rin=0.0, const double& oin=0.0 ) :
        r(rin), o(oin) {};
    double r;
    OrientationAngle o;
};
struct PolarAcceleration2d
{
    PolarAcceleration2d( const double& rin=0.0, const double& oin=0.0 ) :
        r(rin), o(oin) {};
    double r;
    OrientationAngle o;
};
struct Vector2d
{
    Vector2d( const double& xin=0.0, const double& yin=0.0 ) :
        x(xin), y(yin) {};
    double x;
    double y;
};
struct Frame2d
{
    Frame2d( const double& px=0.0, const double& py=0.0, const double& oin=0.0 ) :
        p(px,py), o(oin) {};
    Frame2d( const CartesianPoint2d& pin, const double& oin=0.0 ) :
        p(pin.x,pin.y), o(oin) {};
    CartesianPoint2d p;
    OrientationAngle o;
};
struct Twist2d
{
    Twist2d( const double& vx=0.0, const double& vy=0.0, const double& win=0.0 ) :
        v(vx,vy), w(win) {};
    Twist2d( const CartesianVelocity2d& vin, const double& win=0.0 ) :
        v(vin.x,vin.y), w(win) {};
    CartesianVelocity2d v;
    AngularVelocity2d w;
};
struct Force2d
{
    Force2d( const double& xin=0.0, const double& yin=0.0 ) :
        x(xin), y(yin) {};
    double x;
    double y;
};
struct Wrench2d
{
    Wrench2d( const double& fx=0.0, const double& fy=0.0, const double& min=0.0 ) :
        f(fx,fy), m(min) {};
    Wrench2d( const Force2d& fin, const double& min=0.0 ) :
        f(fin.x,fin.y), m(min) {};
    Force2d f;
    Moment2d m;
};
struct Size2d
{
    Size2d( const double& lin=0.0, const double& win=0.0 ) :
        l(lin), w(win) {};
    double l;
    double w;
};
struct DiscreteSize2d
{
    DiscreteSize2d( int lin=0, int win=0 ) :
        l(lin), w(win) {};
    int l;
    int w;
};

// Three-dimensional objects

struct CartesianPoint3d
{
    CartesianPoint3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
        x(xin), y(yin), z(zin) {};
    double x;
    double y;
    double z;
};
struct CartesianVector3d
{
    CartesianVector3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
        x(xin), y(yin), z(zin) {};
    double x;
    double y;
    double z;
};
struct CartesianVelocity3d
{
    CartesianVelocity3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
        x(xin), y(yin), z(zin) {};
    double x;
    double y;
    double z;
};
struct CartesianAcceleration3d
{
    CartesianAcceleration3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
        x(xin), y(yin), z(zin) {};
    double x;
    double y;
    double z;
};
struct AngularVelocity3d
{
    AngularVelocity3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
        x(xin), y(yin), z(zin) {};
    double x;
    double y;
    double z;
};
struct AngularAcceleration3d
{
    AngularAcceleration3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
        x(xin), y(yin), z(zin) {};
    double x;
    double y;
    double z;
};
struct Force3d
{
    Force3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
        x(xin), y(yin), z(zin) {};
    double x;
    double y;
    double z;
};
struct Moment3d
{
    Moment3d( const double& xin=0.0, const double& yin=0.0, const double& zin=0.0 ) :
        x(xin), y(yin), z(zin) {};
    double x;
    double y;
    double z;
};
struct Twist3d
{
    Twist3d( const double& vx=0.0, const double& vy=0.0, const double& vz=0.0,
             const double& wx=0.0, const double& wy=0.0, const double& wz=0.0 ) :
        v(vx,vy,vz), w(wx,wy,wz) {};
    Twist3d( const CartesianVelocity3d& vin, const AngularVelocity3d& win ) :
        v(vin.x,vin.y,vin.z), w(win.x,win.y,win.z) {};
    CartesianVelocity3d v;
    AngularVelocity3d w;
};
struct Wrench3d
{
    Wrench3d( const double& fx=0.0, const double& fy=0.0, const double& fz=0.0,
              const double& mx=0.0, const double& my=0.0, const double& mz=0.0 ) :
        f(fx,fy,fz), m(mx,my,mz) {};
    Wrench3d( const Force3d& fin, const Moment3d& min ) :
        f(fin.x,fin.y,fin.z), m(min.x,min.y,min.z) {};
    Force3d  f;
    Moment3d m;
};
struct OrientationE3d
{
    OrientationE3d( const double& rin=0.0, const double& pin=0.0, const double& yin=0.0 ) :
        r(rin), p(pin), y(yin) {};
    OrientationAngle r;
    OrientationAngle p;
    OrientationAngle y;
};
struct Frame3d
{
    Frame3d( const double& px=0.0, const double& py=0.0, const double& pz=0.0,
             const double& oroll=0.0, const double& op=0.0, const double& oy=0.0 ) :
        p(px,py,pz), o(oroll,op,oy) {};
    Frame3d( const CartesianPoint3d& pin, const OrientationE3d& oin ) :
        p(pin.x,pin.y,pin.z), o(oin.r,oin.p,oin.y) {};
    CartesianPoint3d p;
    OrientationE3d   o;
};
struct Size3d
{
    Size3d( const double& lin=0.0, const double& win=0.0, const double& hin=0.0 ) :
        l(lin), w(win), h(hin) {};
    Dimension l;
    Dimension w;
    Dimension h;
};
struct DiscreteSize3d
{
    DiscreteSize3d( int lin=0, int win=0, int hin=0 ) :
        l(lin), w(win), h(hin) {};
    DiscreteDimension l;
    DiscreteDimension w;
    DiscreteDimension h;
};

}; // namespace

#endif