Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * hom_point.cpp - Homogenous point 00004 * 00005 * Created: Thu Sep 27 17:01:55 2007 00006 * Copyright 2007-2008 Daniel Beck 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #include "hom_point.h" 00025 #include "hom_vector.h" 00026 #include <cmath> 00027 #include <cstdio> 00028 #include <exception> 00029 00030 namespace fawkes { 00031 00032 /** @class HomPoint geometry/hom_point.h 00033 * A homogeneous point. 00034 * @author Daniel Beck 00035 */ 00036 00037 /**Constructor. 00038 * @param x the x-coordinate 00039 * @param y the y-coordinate 00040 * @param z the z-coordinate 00041 */ 00042 HomPoint::HomPoint(float x, float y, float z) 00043 : HomCoord(x, y, z, 1.0) 00044 { 00045 } 00046 00047 /** Constructor. 00048 * @param h a HomCoord 00049 */ 00050 HomPoint::HomPoint(const HomCoord& h) 00051 : HomCoord(h) 00052 { 00053 if ( 1.0 != w() ) 00054 { 00055 printf("HomPoint(const HomCoord& h): The forth component of a " 00056 "homogeneous point has to be 1.0 but is %f\n", w()); 00057 throw std::exception(); 00058 } 00059 } 00060 00061 /** Destructor */ 00062 HomPoint::~HomPoint() 00063 { 00064 } 00065 00066 /** Obtain distance from the point to the origin. 00067 * @return distance to origin 00068 */ 00069 float 00070 HomPoint::distance() const 00071 { 00072 float d = sqrt( x() * x() + y() * y() + z() * z() ); 00073 return d; 00074 } 00075 00076 /** Move the point by the given coordiantes. 00077 * @param dx x-offset 00078 * @param dy y-offset 00079 * @param dz z-offset 00080 * @return reference to the moved point 00081 */ 00082 HomPoint& 00083 HomPoint::move(float dx, float dy, float dz) 00084 { 00085 this->x() += dx; 00086 this->y() += dy; 00087 this->z() += dz; 00088 00089 return *this; 00090 } 00091 00092 /** Move the point to the given coordiantes. 00093 * @param x new x-coordinate 00094 * @param y new y-coordinate 00095 * @param z new z-coordinate 00096 * @return reference to the moved point 00097 */ 00098 HomPoint& 00099 HomPoint::move_to(float x, float y, float z) 00100 { 00101 this->x() = x; 00102 this->y() = y; 00103 this->z() = z; 00104 00105 return *this; 00106 } 00107 00108 /** Compute the vector between two points. 00109 * @param p the other point 00110 * @return the vector between the two points 00111 */ 00112 HomVector 00113 HomPoint::operator-(const HomPoint& p) const 00114 { 00115 HomVector v; 00116 v.x( x() - p.x() ); 00117 v.y( y() - p.y() ); 00118 v.z( z() - p.z() ); 00119 00120 return v; 00121 } 00122 00123 } // end namespace fawkes