xssdidata.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#ifndef XSSDIDATA_H
#define XSSDIDATA_H

#include "xsquaternion.h"
#include "xstypesconfig.h"
#include "xsvector3.h"

struct XsSdiData;

#ifdef __cplusplus
extern "C"
{
#else
#define XSSDIDATA_INITIALIZER                           \
    {                                                   \
        XSQUATERNION_INITIALIZER, XSVECTOR3_INITIALIZER \
    }
#endif

    XSTYPES_DLL_API void XsSdiData_construct(
        struct XsSdiData* thisPtr, const XsReal* orientationIncrement,
        const XsReal* velocityIncrement);
    XSTYPES_DLL_API void XsSdiData_destruct(struct XsSdiData* thisPtr);

#ifdef __cplusplus
}  // extern "C"
#endif

struct XsSdiData
{
#ifdef __cplusplus
    //! \brief Construct an empty object
    inline XsSdiData() {}
    //! \brief Construct an initialized object
    inline XsSdiData(const XsQuaternion& dq, const XsVector& dv)
        : m_orientationIncrement(dq), m_velocityIncrement(dv)
    {
    }

    //! \brief Copy constructor
    inline XsSdiData(const XsSdiData& other)
        : m_orientationIncrement(other.m_orientationIncrement),
          m_velocityIncrement(other.m_velocityIncrement)
    {
    }

    //! \brief Assignment operator
    inline const XsSdiData& operator=(const XsSdiData& other)
    {
        if (this != &other)
        {
            m_orientationIncrement = other.m_orientationIncrement;
            m_velocityIncrement = other.m_velocityIncrement;
        }
        return *this;
    }

    //! \brief Clear the object so it contains unity data
    inline void zero()
    {
        m_orientationIncrement = XsQuaternion::identity();
        m_velocityIncrement.zero();
    }

    //! \brief Returns the contained orientation increment
    inline const XsQuaternion& orientationIncrement() const
    {
        return m_orientationIncrement;
    }

    //! \brief Update the contained orientation increment
    inline void setOrientationIncrement(const XsQuaternion& dq)
    {
        m_orientationIncrement = dq;
    }

    //! \brief Returns the contained velocity increment
    inline const XsVector3& velocityIncrement() const
    {
        return m_velocityIncrement;
    }

    //! \brief Update the contained velocity increment
    inline void setVelocityIncrement(const XsVector& dv)
    {
        m_velocityIncrement = dv;
    }

   private:
#endif

    /** The orientation increment */
    XsQuaternion m_orientationIncrement;
    /** The velocity increment */
    XsVector3 m_velocityIncrement;
};

typedef struct XsSdiData XsSdiData;

#endif  // file guard