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almath
types
alvelocity6d.h
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/*
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* Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the COPYING file.
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*/
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#pragma once
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#ifndef _LIBALMATH_ALMATH_TYPES_ALVELOCITY6D_H_
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#define _LIBALMATH_ALMATH_TYPES_ALVELOCITY6D_H_
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#include <vector>
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namespace
AL {
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namespace
Math {
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struct
Velocity6D
{
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float
xd
;
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float
yd
;
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float
zd
;
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float
wxd
;
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float
wyd
;
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float
wzd
;
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Velocity6D
();
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explicit
Velocity6D
(
float
pInit);
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Velocity6D
(
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float
pXd,
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float
pYd,
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float
pZd,
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float
pWxd,
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float
pWyd,
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float
pWzd);
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Velocity6D
(
const
std::vector<float>& pFloats);
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Velocity6D
operator+
(
const
Velocity6D
& pVel2)
const
;
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Velocity6D
operator-
(
const
Velocity6D
& pVel2)
const
;
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Velocity6D
operator+
()
const
;
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Velocity6D
operator-
()
const
;
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Velocity6D
operator*
(
const
float
pVal)
const
;
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Velocity6D
operator/
(
const
float
pVal)
const
;
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bool
operator==
(
const
Velocity6D
& pVel2)
const
;
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bool
operator!=
(
const
Velocity6D
& pVel2)
const
;
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Velocity6D
&
operator*=
(
const
float
pVal);
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Velocity6D
&
operator/=
(
const
float
pVal);
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bool
isNear
(
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const
Velocity6D
& pVel2,
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const
float
& pEpsilon=0.0001f)
const
;
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float
norm
()
const
;
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Velocity6D
normalize
()
const
;
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std::vector<float>
toVector
()
const
;
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};
// end struct
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Velocity6D
operator*
(
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const
float
pVal,
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const
Velocity6D
& pVel);
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float
norm
(
const
Velocity6D
& pVel);
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Velocity6D
normalize
(
const
Velocity6D
& pVel);
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}
// end namespace Math
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}
// end namespace AL
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#endif // _LIBALMATH_ALMATH_TYPES_ALVELOCITY6D_H_
Copyright Aldebaran Robotics