CartesianAcceleration.cpp
Go to the documentation of this file.00001 /* ============================================================ 00002 * 00003 * This file is a part of RCI project 00004 * 00005 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de> 00006 * 00007 * This file may be licensed under the terms of the 00008 * GNU Lesser General Public License Version 3 (the ``LGPL''), 00009 * or (at your option) any later version. 00010 * 00011 * Software distributed under the License is distributed 00012 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either 00013 * express or implied. See the LGPL for the specific language 00014 * governing rights and limitations. 00015 * 00016 * You should have received a copy of the LGPL along with this 00017 * program. If not, go to http://www.gnu.org/licenses/lgpl.html 00018 * or write to the Free Software Foundation, Inc., 00019 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00020 * 00021 * The development of this software was supported by: 00022 * CoR-Lab, Research Institute for Cognition and Robotics 00023 * Bielefeld University 00024 * 00025 * ============================================================ */ 00026 00027 #include "CartesianAcceleration.h" 00028 00029 #include <math.h> 00030 00031 #include <boost/math/quaternion.hpp> 00032 00033 using namespace std; 00034 using namespace nemo; 00035 using namespace rsc::math; 00036 00037 namespace rci { 00038 00039 TranslationalAcceleration::TranslationalAcceleration() : 00040 CartesianTranslational() { 00041 } 00042 00043 TranslationalAcceleration::~TranslationalAcceleration() { 00044 } 00045 00046 TranslationalAcceleration::TranslationalAcceleration(double valx, double valy, 00047 double valz) : 00048 CartesianTranslational(valx, valy, valz) { 00049 } 00050 00051 TranslationalAcceleration::TranslationalAcceleration(nemo::RealVector values) : 00052 CartesianTranslational(values) { 00053 } 00054 00055 TranslationalAccelerationPtr TranslationalAcceleration::fromM_s2(double x, 00056 double y, double z) { 00057 return TranslationalAccelerationPtr(new TranslationalAcceleration(x, y, z)); 00058 } 00059 00060 double TranslationalAcceleration::m_s2(unsigned int index) { 00061 return this->asDouble(index); 00062 } 00063 00064 nemo::RealVector TranslationalAcceleration::m_s2Vector() { 00065 return this->asDoubleVector(); 00066 } 00067 00068 std::string TranslationalAcceleration::print() const { 00069 ostringstream outstream(ostringstream::out); 00070 outstream.precision(3); // Precision when printing double values 00071 outstream << "TranslationalAcceleration<x=" << this->asDouble(0) << ",y=" 00072 << this->asDouble(1) << ",z=" << this->asDouble(2) << ">(m/s^2)"; 00073 return outstream.str(); 00074 } 00075 00076 }
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