Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * hom_point.h - Homogenous point 00004 * 00005 * Created: Thu Sep 27 16:55:50 2007 00006 * Copyright 2007-2008 Daniel Beck 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __GEOMETRY_HOM_POINT_H_ 00025 #define __GEOMETRY_HOM_POINT_H_ 00026 00027 #include <geometry/hom_coord.h> 00028 #include <utils/math/types.h> 00029 00030 namespace fawkes { 00031 class HomVector; 00032 00033 class HomPoint : public HomCoord 00034 { 00035 public: 00036 HomPoint(float x = 0.0, float y = 0.0, float z = 0.0); 00037 HomPoint(cart_coord_2d_t coord ); 00038 HomPoint(cart_coord_3d_t coord ); 00039 HomPoint(const HomCoord& h); 00040 virtual ~HomPoint(); 00041 00042 float distance() const; 00043 00044 HomPoint& move(float dx, float dy, float dz); 00045 HomPoint& move_to(float x, float y, float z); 00046 00047 HomVector operator-(const HomPoint& p) const; 00048 }; 00049 00050 } // end namespace fawkes 00051 00052 00053 #endif /* __GEOMETRY_HOM_POINT_H_ */