aaa
Dependencies: mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic
type.h@2:086272a2da1c, 2018-12-07 (annotated)
- Committer:
- nakedt555
- Date:
- Fri Dec 07 22:34:31 2018 +0000
- Revision:
- 2:086272a2da1c
- Parent:
- 1:bdd17feaa4ce
- Child:
- 3:a45557a0dcb8
12/08 work log;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nakedt555 | 1:bdd17feaa4ce | 1 | #ifndef _TYPE_H_ |
nakedt555 | 1:bdd17feaa4ce | 2 | #define _TYPE_H_ |
nakedt555 | 1:bdd17feaa4ce | 3 | |
nakedt555 | 1:bdd17feaa4ce | 4 | #include <geometry_msgs/Point.h> |
nakedt555 | 1:bdd17feaa4ce | 5 | |
nakedt555 | 1:bdd17feaa4ce | 6 | class Vec3f{ |
nakedt555 | 1:bdd17feaa4ce | 7 | private: |
nakedt555 | 1:bdd17feaa4ce | 8 | float x_; |
nakedt555 | 1:bdd17feaa4ce | 9 | float y_; |
nakedt555 | 1:bdd17feaa4ce | 10 | float z_; |
nakedt555 | 1:bdd17feaa4ce | 11 | geometry_msgs::Point data_; |
nakedt555 | 1:bdd17feaa4ce | 12 | |
nakedt555 | 1:bdd17feaa4ce | 13 | public: |
nakedt555 | 1:bdd17feaa4ce | 14 | //Constructor |
nakedt555 | 1:bdd17feaa4ce | 15 | Vec3f(float x = 0.0f, float y = 0.0f, float z = 0.0f) : x_(x), y_(y), z_(z){ |
nakedt555 | 1:bdd17feaa4ce | 16 | //Create point msgs |
nakedt555 | 1:bdd17feaa4ce | 17 | data_.x = x; |
nakedt555 | 1:bdd17feaa4ce | 18 | data_.y = y; |
nakedt555 | 1:bdd17feaa4ce | 19 | data_.z = z; |
nakedt555 | 1:bdd17feaa4ce | 20 | } |
nakedt555 | 1:bdd17feaa4ce | 21 | |
nakedt555 | 1:bdd17feaa4ce | 22 | //Setter |
nakedt555 | 1:bdd17feaa4ce | 23 | void x(float x){ |
nakedt555 | 1:bdd17feaa4ce | 24 | x_ = x; |
nakedt555 | 1:bdd17feaa4ce | 25 | } |
nakedt555 | 1:bdd17feaa4ce | 26 | void y(float y){ |
nakedt555 | 1:bdd17feaa4ce | 27 | y_ = y; |
nakedt555 | 1:bdd17feaa4ce | 28 | } |
nakedt555 | 1:bdd17feaa4ce | 29 | void z(float z){ |
nakedt555 | 2:086272a2da1c | 30 | z_ = z; |
nakedt555 | 2:086272a2da1c | 31 | } |
nakedt555 | 2:086272a2da1c | 32 | void angle(float angle){ |
nakedt555 | 2:086272a2da1c | 33 | z_ = angle; |
nakedt555 | 1:bdd17feaa4ce | 34 | } |
nakedt555 | 1:bdd17feaa4ce | 35 | |
nakedt555 | 1:bdd17feaa4ce | 36 | //Getter |
nakedt555 | 1:bdd17feaa4ce | 37 | float x(){ |
nakedt555 | 1:bdd17feaa4ce | 38 | return x_; |
nakedt555 | 1:bdd17feaa4ce | 39 | } |
nakedt555 | 1:bdd17feaa4ce | 40 | float y(){ |
nakedt555 | 1:bdd17feaa4ce | 41 | return y_; |
nakedt555 | 1:bdd17feaa4ce | 42 | } |
nakedt555 | 1:bdd17feaa4ce | 43 | float z(){ |
nakedt555 | 1:bdd17feaa4ce | 44 | return z_; |
nakedt555 | 1:bdd17feaa4ce | 45 | } |
nakedt555 | 2:086272a2da1c | 46 | float angle(){ |
nakedt555 | 2:086272a2da1c | 47 | return z_; |
nakedt555 | 2:086272a2da1c | 48 | } |
nakedt555 | 1:bdd17feaa4ce | 49 | |
nakedt555 | 1:bdd17feaa4ce | 50 | geometry_msgs::Point get_point_msgs(){ |
nakedt555 | 1:bdd17feaa4ce | 51 | return data_; |
nakedt555 | 1:bdd17feaa4ce | 52 | } |
nakedt555 | 1:bdd17feaa4ce | 53 | }; |
nakedt555 | 1:bdd17feaa4ce | 54 | |
nakedt555 | 2:086272a2da1c | 55 | class Vec4f : public Vec3f |
nakedt555 | 2:086272a2da1c | 56 | { |
nakedt555 | 2:086272a2da1c | 57 | private: |
nakedt555 | 2:086272a2da1c | 58 | float w_; |
nakedt555 | 2:086272a2da1c | 59 | |
nakedt555 | 2:086272a2da1c | 60 | public: |
nakedt555 | 2:086272a2da1c | 61 | Vec4f(float x = 0.0f, float y = 0.0f, float z = 0.0f, float w = 0.0f) : Vec3f(x, y, z), w_(w){ |
nakedt555 | 2:086272a2da1c | 62 | |
nakedt555 | 2:086272a2da1c | 63 | } |
nakedt555 | 2:086272a2da1c | 64 | |
nakedt555 | 2:086272a2da1c | 65 | //Setter |
nakedt555 | 2:086272a2da1c | 66 | void w(float w){ |
nakedt555 | 2:086272a2da1c | 67 | w_ = w; |
nakedt555 | 2:086272a2da1c | 68 | } |
nakedt555 | 2:086272a2da1c | 69 | |
nakedt555 | 2:086272a2da1c | 70 | //Getter |
nakedt555 | 2:086272a2da1c | 71 | float w(){ |
nakedt555 | 2:086272a2da1c | 72 | return w_; |
nakedt555 | 2:086272a2da1c | 73 | } |
nakedt555 | 2:086272a2da1c | 74 | }; |
nakedt555 | 2:086272a2da1c | 75 | |
nakedt555 | 1:bdd17feaa4ce | 76 | #endif |