85 lines
3.2 KiB
C++
85 lines
3.2 KiB
C++
#pragma once
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#include "Thing.h"
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#include "Vector2.h"
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#include "Vector3.h"
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namespace Passer {
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namespace RoboidControl {
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/// @brief A plament is used to specify where a Thing is placed on the Roboid.
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///
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/// It is not always necessary to exactly specify the position and orientation
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/// of a Thing. You can use a simple constructor in that case:
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///
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/// \code
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/// Thing* thing = new Thing();
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/// Placement p = Placement(thing);
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/// \endcode
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///
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/// The thing can be placed using carthesian coordinates in meters, while the
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/// orientation is specified with the horizontal and vertical direction. Whenö
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/// both horizontal and vertical direction are zero, the Thing is aligned with
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/// the parent thing in the hierarchy. When there is no parent, the thing is
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/// directed such that it is looking forward.
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///
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/// \code
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/// Thing* thing = new Thing();
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/// Placement p = Placement(thing, Vector3(-0.04F, 0.0F, 0.06F), 0.0F, 0.0F);
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/// \endcode
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/// In the example above, the thing is placed 4 cm to the left and 6 cm to the
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/// front relative to the parent. The orientation is the same as the parent. The
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/// second line can be simplified, as the default angles are zero and a Vector2
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/// position can be used which is a placement in the horizontal plane:
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///
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/// \code
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/// Placement p = Placement(thing, Vector2(-0.04F, 0.06F));
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/// \endcode
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class Placement {
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public:
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/// @brief Placement of a Thing on a Roboid
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/// @param thing The Thing which is placed
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/// @param position The position of the Thing in carthesian coordinates
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/// @param horizontalDirection The horizontal direction angle of the Thing.
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/// Negative angles are to the left.
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/// @param verticalAngle The vertical direction angle of the Thing. Negative
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/// angles are downward.
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Placement(Thing* thing,
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Vector3 position = Vector3::zero,
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float horizontalDirection = 0.0F,
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float verticalAngle = 0.0F);
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/// @brief Placement of a Thing on a Roboid without position
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/// @param thing The Thing which is place
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/// @param horizontalDirection The horizontal direction angle of the Thing.
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/// Negative angles are to the left.
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/// @param verticalDirection The vertical direction angle of the Thing.
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/// Negative angles are downward.
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Placement(Thing* thing,
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float horizontalDirection,
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float verticalDirection = 0.0F);
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/// @brief Default constructor with a zero placement
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Placement();
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/// @brief The parent placement in the Roboid hierarchy
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/// @remark Reserved for future use
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Placement* parent = nullptr;
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/// @brief An array of children of this placement in the Roboid hierarchy
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/// @remark Reserved for future use
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Placement** children = nullptr;
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/// @brief The number of children of this placemet in the Roboid hierarchy
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/// @remark Reserved for future use
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unsigned int childCount = 0;
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/// @brief The Thing which is placed
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Thing* thing;
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/// @brief The position of the Thing in carthesian coordinates
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Vector3 position;
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/// @brief The angle or direction of the Thing in the horizontal plane
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float horizontalDirection;
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/// @brief The angle or direction of the Thing in the vertical plane
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float verticalDirection;
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};
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} // namespace RoboidControl
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} // namespace Passer
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using namespace Passer::RoboidControl; |