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alaxismask.h
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1 /*
2  * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
3  * Use of this source code is governed by a BSD-style license that can be
4  * found in the COPYING file.
5  */
6 
7 
8 #pragma once
9 #ifndef _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_
10 #define _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_
11 
12 #include <bitset>
13 
14 namespace AL {
15  namespace Math {
16 
35  typedef std::bitset<6> AXIS_MASK;
36 
37  static const int AXIS_MASK_X = 1;
38  static const int AXIS_MASK_Y = 2;
39  static const int AXIS_MASK_XY = 3;
40  static const int AXIS_MASK_Z = 4;
41  static const int AXIS_MASK_WX = 8;
42  static const int AXIS_MASK_WY = 16;
43  static const int AXIS_MASK_WZ = 32;
44  static const int AXIS_MASK_WYWZ = 48;
45  static const int AXIS_MASK_ALL = 63;
46  static const int AXIS_MASK_VEL = 7;
47  static const int AXIS_MASK_ROT = 56;
48  static const int AXIS_MASK_NONE = 0;
49  static const int AXIS_MASK_PLANEZ = 28; // Z + WX + WY
50 
54  bool isAxisMask(const int pAxisMask);
55 
56  }
57 }
58 #endif // _LIBALMATH_ALMATH_TYPES_ALAXISMASK_H_
std::bitset< 6 > AXIS_MASK
Definition of an AXIS_MASK as a bit set.
Definition: alaxismask.h:35
bool isAxisMask(const int pAxisMask)
Validates an AxisMask.