almath/types/alaxismask.h Source File

00001 /*
00002  * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
00003  * Use of this source code is governed by a BSD-style license that can be
00004  * found in the COPYING file.
00005  */
00006 
00007 
00008 #pragma once
00009 #ifndef _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_
00010 #define _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_
00011 
00012 #include <bitset>
00013 
00014 namespace AL {
00015   namespace Math {
00016 
00034     typedef std::bitset<6> AXIS_MASK;
00035 
00036     static const int AXIS_MASK_X    =  1;
00037     static const int AXIS_MASK_Y    =  2;
00038     static const int AXIS_MASK_XY   =  3;
00039     static const int AXIS_MASK_Z    =  4;
00040     static const int AXIS_MASK_WX   =  8;
00041     static const int AXIS_MASK_WY   = 16;
00042     static const int AXIS_MASK_WZ   = 32;
00043     static const int AXIS_MASK_WYWZ = 48;
00044     static const int AXIS_MASK_ALL  = 63;
00045     static const int AXIS_MASK_VEL  =  7;
00046     static const int AXIS_MASK_ROT  = 56;
00047     static const int AXIS_MASK_NONE =  0;
00048   }
00049 }
00050 #endif  // _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_