alaxismask.h

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/*
 * 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 _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_
#define _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_

#include <bitset>

namespace AL {
  namespace Math {

    typedef std::bitset<6> AXIS_MASK;

    static const int AXIS_MASK_X      =  1;
    static const int AXIS_MASK_Y      =  2;
    static const int AXIS_MASK_XY     =  3;
    static const int AXIS_MASK_Z      =  4;
    static const int AXIS_MASK_WX     =  8;
    static const int AXIS_MASK_WY     = 16;
    static const int AXIS_MASK_WZ     = 32;
    static const int AXIS_MASK_WYWZ   = 48;
    static const int AXIS_MASK_ALL    = 63;
    static const int AXIS_MASK_VEL    =  7;
    static const int AXIS_MASK_ROT    = 56;
    static const int AXIS_MASK_NONE   =  0;
    static const int AXIS_MASK_PLANEZ = 28; // Z + WX + WY

    bool isAxisMask(const int pAxisMask);

  }
}
#endif  // _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_