94 lines
2.2 KiB
C++
94 lines
2.2 KiB
C++
/**
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*
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* Position.hpp - C++ header for Position class
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*
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* Copyright (C) 2014 Simon D. Levy
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* This code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or (at your option) any later version.
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*
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* This code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <math.h>
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#include <iostream>
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#include <vector>
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using namespace std;
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/**
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* A class representing the position of a robot.
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*/
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class Position
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{
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friend class CoreSLAM;
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public:
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/**
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* Constructs a new position.
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* @param x_mm X coordinate in millimeters
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* @param y_mm Y coordinate in millimeters
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* @param theta_degrees rotation angle in degrees
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*/
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Position(double x_mm, double y_mm, double theta_degrees)
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{
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this->x_mm = x_mm;
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this->y_mm = y_mm;
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this->theta_degrees = theta_degrees;
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}
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/**
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* Empty position constructor. All values are set to zero.
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*/
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Position(void)
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{
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this->x_mm = 0;
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this->y_mm = 0;
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this->theta_degrees = 0;
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}
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friend ostream& operator<< (ostream & out, Position & position)
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{
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char str[100];
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//sprintf(str, "<x = %7.0f mm y = %7.0f mm theta = %+3.3f degrees>",
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sprintf(str, "<x = %f mm y = %f mm theta = %f degrees>",
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position.x_mm, position.y_mm, position.theta_degrees);
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out << str;
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return out;
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}
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/**
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* Distance of robot from left edge of map, in millimeters.
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*/
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double x_mm;
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/**
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* Distance of robot from top edge of map, in millimeters.
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*/
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double y_mm;
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/**
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* Clockwise rotation of robot with respect to three o'clock (east), in degrees.
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*/
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double theta_degrees;
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};
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