MRPT  1.9.9
xssdidata.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef XSSDIDATA_H
10 #define XSSDIDATA_H
11 
12 #include "xstypesconfig.h"
13 #include "xsvector3.h"
14 #include "xsquaternion.h"
15 
16 struct XsSdiData;
17 
18 #ifdef __cplusplus
19 extern "C" {
20 #else
21 #define XSSDIDATA_INITIALIZER \
22  { \
23  XSQUATERNION_INITIALIZER, XSVECTOR3_INITIALIZER \
24  }
25 #endif
26 
28  struct XsSdiData* thisPtr, const XsReal* orientationIncrement,
29  const XsReal* velocityIncrement);
30 XSTYPES_DLL_API void XsSdiData_destruct(struct XsSdiData* thisPtr);
31 
32 #ifdef __cplusplus
33 } // extern "C"
34 #endif
35 
36 struct XsSdiData
37 {
38 #ifdef __cplusplus
39  //! \brief Construct an empty object
40  inline XsSdiData() {}
41  //! \brief Construct an initialized object
42  inline XsSdiData(const XsQuaternion& dq, const XsVector& dv)
44  {
45  }
46 
47  //! \brief Copy constructor
48  inline XsSdiData(const XsSdiData& other)
51  {
52  }
53 
54  //! \brief Assignment operator
55  inline const XsSdiData& operator=(const XsSdiData& other)
56  {
57  if (this != &other)
58  {
61  }
62  return *this;
63  }
64 
65  //! \brief Clear the object so it contains unity data
66  inline void zero()
67  {
68  m_orientationIncrement = XsQuaternion::identity();
69  m_velocityIncrement.zero();
70  }
71 
72  //! \brief Returns the contained orientation increment
73  inline const XsQuaternion& orientationIncrement() const
74  {
76  }
77 
78  //! \brief Update the contained orientation increment
79  inline void setOrientationIncrement(const XsQuaternion& dq)
80  {
82  }
83 
84  //! \brief Returns the contained velocity increment
85  inline const XsVector3& velocityIncrement() const
86  {
87  return m_velocityIncrement;
88  }
89 
90  //! \brief Update the contained velocity increment
91  inline void setVelocityIncrement(const XsVector& dv)
92  {
94  }
95 
96  private:
97 #endif
98 
99  /** The orientation increment */
101  /** The velocity increment */
103 };
104 
105 typedef struct XsSdiData XsSdiData;
106 
107 #endif // file guard
struct XsSdiData XsSdiData
Definition: xssdidata.h:105
XsQuaternion m_orientationIncrement
The orientation increment.
Definition: xssdidata.h:100
XsVector3 m_velocityIncrement
The velocity increment.
Definition: xssdidata.h:102
XSTYPES_DLL_API void XsSdiData_destruct(struct XsSdiData *thisPtr)
#define XSTYPES_DLL_API
Definition: xstypesconfig.h:9
double XsReal
Defines the floating point type used by the Xsens libraries.
Definition: xstypedefs.h:17
XSTYPES_DLL_API void XsSdiData_construct(struct XsSdiData *thisPtr, const XsReal *orientationIncrement, const XsReal *velocityIncrement)



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