wing.h
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1 #ifndef WING_
2 #define WING_
3 
4 #include "ros/ros.h"
6 
7 class Wing : public Abstract_robot_element{
8  protected:
9  std::string name_;
10  tf2::Vector3 size_;
11  std::vector<tf2::Transform> bounds_;
12 
13  public:
14  Wing(std::string name, tf2::Transform tf, tf2::Vector3 size) : size_(size), name_(name){
15  relative_tf_ = tf;
16  bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/2.f, size_.getY()/2.f,0))); //++
17  bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/2.f, size_.getY()/-2.f,0))); //+-
18  bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/-2.f, size_.getY()/-2.f,0))); //--
19  bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/-2.f, size_.getY()/2.f,0))); //-+
20  }
21  virtual ~Wing() {}
22 
23  inline std::string& name() {return name_;}
24  inline void set_name(std::string str) {name_ = str;}
25  inline void set_set(tf2::Vector3& vec) {size_ = vec;}
26 
27  inline tf2::Vector3& size(){ return size_;}
28  inline std::vector<tf2::Transform>& bounds() {return bounds_;}
29  void update(tf2::Transform& tf) override {this->calc_world_tf(tf);}
30 };
31 
32 #endif
Wing::update
void update(tf2::Transform &tf) override
Definition: wing.h:29
Wing::bounds
std::vector< tf2::Transform > & bounds()
Definition: wing.h:28
Wing::set_set
void set_set(tf2::Vector3 &vec)
Definition: wing.h:25
abstract_robot_element.h
Wing::name
std::string & name()
Definition: wing.h:23
Wing::size
tf2::Vector3 & size()
Definition: wing.h:27
Abstract_robot_element::relative_tf_
tf2::Transform relative_tf_
Definition: impl/abstract_robot_element.h:11
Wing::name_
std::string name_
Definition: wing.h:9
Wing::~Wing
virtual ~Wing()
Definition: wing.h:21
Wing::Wing
Wing(std::string name, tf2::Transform tf, tf2::Vector3 size)
Definition: wing.h:14
Wing::set_name
void set_name(std::string str)
Definition: wing.h:24
Abstract_robot_element::calc_world_tf
void calc_world_tf(tf2::Transform &tf)
Definition: impl/abstract_robot_element.h:19
Abstract_robot_element
Definition: impl/abstract_robot_element.h:9
Wing::size_
tf2::Vector3 size_
Definition: wing.h:10
Wing::bounds_
std::vector< tf2::Transform > bounds_
Definition: wing.h:11
Wing
Definition: wing.h:7


multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43