X-lanni
46 lines
1.1 KiB
C++
46 lines
1.1 KiB
C++
#ifndef FSRMOVEMENT_H
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#define FSRMOVEMENT_H
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#include <gmapping/utils/point.h>
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namespace GMapping {
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/** fsr-movement (forward, sideward, rotate) **/
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class FSRMovement {
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public:
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FSRMovement(double f=0.0, double s=0.0, double r=0.0);
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FSRMovement(const FSRMovement& src);
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FSRMovement(const OrientedPoint& pt1, const OrientedPoint& pt2);
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FSRMovement(const FSRMovement& move1, const FSRMovement& move2);
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void normalize();
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void invert();
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void compose(const FSRMovement& move2);
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OrientedPoint move(const OrientedPoint& pt) const;
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/* static members */
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static OrientedPoint movePoint(const OrientedPoint& pt, const FSRMovement& move1);
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static FSRMovement composeMoves(const FSRMovement& move1,
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const FSRMovement& move2);
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static FSRMovement moveBetweenPoints(const OrientedPoint& pt1,
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const OrientedPoint& pt2);
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static FSRMovement invertMove(const FSRMovement& move1);
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static OrientedPoint frameTransformation(const OrientedPoint& reference_pt_frame1,
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const OrientedPoint& reference_pt_frame2,
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const OrientedPoint& pt_frame1);
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public:
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double f;
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double s;
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double r;
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};
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}
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#endif
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