駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

type.h@1:bdd17feaa4ce, 2018-12-07 (annotated)

Committer:
nakedt555
Date:
Fri Dec 07 20:59:56 2018 +0000
Revision:
1:bdd17feaa4ce
Child:
2:086272a2da1c
create odom_h;

Who changed what in which revision?

UserRevisionLine numberNew 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 1:bdd17feaa4ce 30 z_ = z;
nakedt555 1:bdd17feaa4ce 31 }
nakedt555 1:bdd17feaa4ce 32
nakedt555 1:bdd17feaa4ce 33 //Getter
nakedt555 1:bdd17feaa4ce 34 float x(){
nakedt555 1:bdd17feaa4ce 35 return x_;
nakedt555 1:bdd17feaa4ce 36 }
nakedt555 1:bdd17feaa4ce 37 float y(){
nakedt555 1:bdd17feaa4ce 38 return y_;
nakedt555 1:bdd17feaa4ce 39 }
nakedt555 1:bdd17feaa4ce 40 float z(){
nakedt555 1:bdd17feaa4ce 41 return z_;
nakedt555 1:bdd17feaa4ce 42 }
nakedt555 1:bdd17feaa4ce 43
nakedt555 1:bdd17feaa4ce 44 geometry_msgs::Point get_point_msgs(){
nakedt555 1:bdd17feaa4ce 45 return data_;
nakedt555 1:bdd17feaa4ce 46 }
nakedt555 1:bdd17feaa4ce 47 };
nakedt555 1:bdd17feaa4ce 48
nakedt555 1:bdd17feaa4ce 49 #endif