xssdidata.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef XSSDIDATA_H
#define XSSDIDATA_H
 
#include "xstypesconfig.h"
#include "xsvector3.h"
#include "xsquaternion.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