aldisplacement.h

/*
 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */


#pragma once
#ifndef ALDISPLACEMENT_H
#define ALDISPLACEMENT_H

#include <almath/types/alposition3d.h>
#include <almath/types/alquaternion.h>

namespace AL {
  namespace Math {

    struct Displacement
    {
      Position3D P;
      Quaternion Q;

      explicit Displacement();

      Displacement(
        const Position3D& pos3d,
        const Quaternion& quat = Quaternion());

      Displacement& operator*=(const Displacement& pDisp);

      Displacement operator*(const Displacement& pDisp);

      bool isNear(
        const Displacement&          pDisp2,
        const float                  pEpsilon=0.0001f) const;

    };

  }
}

#endif // ALDISPLACEMENT_H