physics/PositionableOrientable

Go to the documentation of this file.

/* **-*-c++-*-**************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: PositionableOrientable 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_POSITIONABLEORIENTABLE_
#define _PHYSICS_POSITIONABLEORIENTABLE_

#include <physics/physics>

#include <physics/Positionable>
#include <physics/Orientable>

#include <base/Transform>



namespace physics {

/// interface for things that can be positioned and oriented in 3D space
class PositionableOrientable : public Positionable, public Orientable
{
public:
  PositionableOrientable() {}
  PositionableOrientable(const PositionableOrientable& po) { setConfiguration(po.getConfiguration()); }

  virtual PositionableOrientable& operator=(const PositionableOrientable& po) { setConfiguration(po.getConfiguration()); return *this; }
  
  virtual void setPositionOrientation(const Point3& pos, const Orient& orient)
  {
    setConfiguration( base::Transform(pos, orient) );
  }
  
  virtual void setConfiguration(const base::Transform& configuration)
  {
    setPosition( configuration.getTranslation() );
    setOrientation( configuration.getRotation() );
  }
  
  
  virtual base::Transform getConfiguration() const 
  {
    return base::Transform( getPosition(), getOrientation() );
  }
  
  
  // convenience methods for 2D manipulations
  
  /// set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)
  virtual void setPosition2D(const base::Point2& p, Real theta);
  
  /// get the 2D (x,y) position 
  virtual base::Point2 getPosition2D() const
  {
    Point3 pos( getPosition() );
    return Point2(pos.x, pos.y);
  }
  
  /// get the 2D angle theta (rot. angle about Z-axis)
  Real getOrientation2D() const;
  
};
  

} // physics

#endif

---