1 | // |
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2 | // You received this file as part of RRLib |
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3 | // Robotics Research Library |
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4 | // |
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5 | // Copyright (C) Finroc GbR (finroc.org) |
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6 | // |
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7 | // This program is free software; you can redistribute it and/or modify |
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8 | // it under the terms of the GNU General Public License as published by |
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9 | // the Free Software Foundation; either version 2 of the License, or |
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10 | // (at your option) any later version. |
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11 | // |
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12 | // This program is distributed in the hope that it will be useful, |
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13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of |
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14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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15 | // GNU General Public License for more details. |
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16 | // |
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17 | // You should have received a copy of the GNU General Public License along |
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18 | // with this program; if not, write to the Free Software Foundation, Inc., |
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19 | // 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. |
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20 | // |
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21 | //---------------------------------------------------------------------- |
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22 | /*!\file tShape.h |
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23 | * |
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24 | * \author Tobias Foehst |
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25 | * |
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26 | * \date 2010-12-27 |
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27 | * |
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28 | * \brief Contains tShape |
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29 | * |
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30 | * \b tShape |
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31 | * |
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32 | * A few words for tShape |
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33 | * |
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34 | */ |
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35 | //---------------------------------------------------------------------- |
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36 | #ifndef __rrlib__geometry__tShape_h__ |
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37 | #define __rrlib__geometry__tShape_h__ |
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38 | |
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39 | //---------------------------------------------------------------------- |
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40 | // External includes (system with <>, local with "") |
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41 | //---------------------------------------------------------------------- |
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42 | #include "rrlib/math/tVector.h" |
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43 | #include "rrlib/math/tMatrix.h" |
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44 | |
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45 | //---------------------------------------------------------------------- |
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46 | // Internal includes with "" |
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47 | //---------------------------------------------------------------------- |
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48 | #include "rrlib/geometry/tPoint.h" |
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49 | #include "rrlib/geometry/tBoundingBox.h" |
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50 | |
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51 | //---------------------------------------------------------------------- |
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52 | // Debugging |
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53 | //---------------------------------------------------------------------- |
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54 | |
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55 | //---------------------------------------------------------------------- |
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56 | // Namespace declaration |
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57 | //---------------------------------------------------------------------- |
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58 | namespace rrlib |
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59 | { |
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60 | namespace geometry |
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61 | { |
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62 | |
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63 | //---------------------------------------------------------------------- |
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64 | // Forward declarations / typedefs / enums |
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65 | //---------------------------------------------------------------------- |
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66 | |
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67 | //---------------------------------------------------------------------- |
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68 | // Class declaration |
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69 | //---------------------------------------------------------------------- |
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70 | //! Short description of tShape |
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71 | /*! A more detailed description of tShape, which |
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72 | Tobias Foehst hasn't done yet !! |
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73 | */ |
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74 | template <size_t Tdimension, typename TElement> |
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75 | class tShape |
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76 | { |
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77 | |
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78 | //---------------------------------------------------------------------- |
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79 | // Public methods and typedefs |
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80 | //---------------------------------------------------------------------- |
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81 | public: |
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82 | |
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83 | static inline const size_t Dimension() |
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84 | { |
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85 | return Tdimension; |
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86 | } |
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87 | |
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88 | typedef geometry::tPoint<Tdimension, TElement> tPoint; |
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89 | typedef geometry::tBoundingBox<Tdimension, TElement> tBoundingBox; |
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90 | |
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91 | tShape(); |
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92 | |
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93 | virtual ~tShape() = 0; |
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94 | |
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95 | const tBoundingBox &BoundingBox() const; |
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96 | const tPoint &CenterOfGravity() const; |
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97 | |
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98 | virtual tShape &Translate(const math::tVector<Tdimension, TElement> &translation) = 0; |
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99 | virtual tShape &Rotate(const math::tMatrix<Tdimension, Tdimension, TElement> &rotation) = 0; |
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100 | virtual tShape &Transform(const math::tMatrix < Tdimension + 1, Tdimension + 1, TElement > &transformation) = 0; |
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101 | |
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102 | //---------------------------------------------------------------------- |
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103 | // Protected methods |
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104 | //---------------------------------------------------------------------- |
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105 | protected: |
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106 | |
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107 | virtual void SetChanged(); |
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108 | |
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109 | //---------------------------------------------------------------------- |
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110 | // Private fields and methods |
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111 | //---------------------------------------------------------------------- |
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112 | private: |
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113 | |
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114 | mutable bool changed; |
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115 | mutable tBoundingBox *bounding_box; |
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116 | mutable tPoint *center_of_gravity; |
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117 | |
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118 | void ResetMetaInformation() const; |
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119 | |
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120 | virtual void UpdateBoundingBox(tBoundingBox &bounding_box) const = 0; |
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121 | virtual void UpdateCenterOfGravity(tPoint ¢er_of_gravity) const = 0; |
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122 | |
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123 | }; |
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124 | |
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125 | |
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126 | //---------------------------------------------------------------------- |
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127 | // End of namespace declaration |
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128 | //---------------------------------------------------------------------- |
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129 | } |
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130 | } |
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131 | |
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132 | |
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133 | #include "rrlib/geometry/tShape.hpp" |
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134 | |
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135 | #endif |
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