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xssdidata.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, 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 {XSQUATERNION_INITIALIZER, XSVECTOR3_INITIALIZER}
22 #endif
23 
24 XSTYPES_DLL_API void XsSdiData_construct(struct XsSdiData* thisPtr, const XsReal* orientationIncrement, const XsReal* velocityIncrement);
25 XSTYPES_DLL_API void XsSdiData_destruct(struct XsSdiData* thisPtr);
26 
27 #ifdef __cplusplus
28 } // extern "C"
29 #endif
30 
31 struct XsSdiData
32 {
33 #ifdef __cplusplus
34  //! \brief Construct an empty object
35  inline XsSdiData()
36  {
37  }
38 
39  //! \brief Construct an initialized object
40  inline XsSdiData(const XsQuaternion& dq, const XsVector& dv)
43  {
44  }
45 
46  //! \brief Copy constructor
47  inline XsSdiData(const XsSdiData& other)
50  {
51  }
52 
53  //! \brief Assignment operator
54  inline const XsSdiData& operator=(const XsSdiData& other)
55  {
56  if (this != &other)
57  {
60  }
61  return *this;
62  }
63 
64  //! \brief Clear the object so it contains unity data
65  inline void zero()
66  {
67  m_orientationIncrement = XsQuaternion::identity();
68  m_velocityIncrement.zero();
69  }
70 
71  //! \brief Returns the contained orientation increment
72  inline const XsQuaternion& orientationIncrement() const
73  {
75  }
76 
77  //! \brief Update the contained orientation increment
78  inline void setOrientationIncrement(const XsQuaternion& dq)
79  {
81  }
82 
83  //! \brief Returns the contained velocity increment
84  inline const XsVector3& velocityIncrement() const
85  {
86  return m_velocityIncrement;
87  }
88 
89  //! \brief Update the contained velocity increment
90  inline void setVelocityIncrement(const XsVector& dv)
91  {
93  }
94 
95 private:
96 #endif
97 
98  XsQuaternion m_orientationIncrement; //!< The orientation increment
99  XsVector3 m_velocityIncrement; //!< The velocity increment
100 };
101 
102 typedef struct XsSdiData XsSdiData;
103 
104 #endif // file guard
struct XsSdiData XsSdiData
Definition: xssdidata.h:102
XsQuaternion m_orientationIncrement
The orientation increment.
Definition: xssdidata.h:98
XsVector3 m_velocityIncrement
The velocity increment.
Definition: xssdidata.h:99
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:16
XSTYPES_DLL_API void XsSdiData_construct(struct XsSdiData *thisPtr, const XsReal *orientationIncrement, const XsReal *velocityIncrement)



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