xssdidata.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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

        XsQuaternion m_orientationIncrement;    //!< The orientation increment
        XsVector3    m_velocityIncrement;               //!< The velocity increment
};

typedef struct XsSdiData XsSdiData;

#endif  // file guard