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 }
Generated on Thu Aug 2 14:02:49 2012 for RCI by  doxygen 1.6.3