00001 /*!@file BeoSub/Attitude.H Attitude class for the submarine */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003 // 00005 // by the University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Laurent Itti <itti@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/Attitude.H $ 00035 // $Id: Attitude.H 5494 2005-09-09 01:12:07Z rjpeters $ 00036 // 00037 00038 #ifndef ATTITUDE_H_DEFINED 00039 #define ATTITUDE_H_DEFINED 00040 00041 #include "Util/Angle.H" 00042 00043 //! A BeoSub three-dimensional attitude 00044 /*! Conventions and units are as follows: 00045 heading: ]-180.0 .. 180.0] in degrees, 0.0 is North, 45.0 is NE, etc 00046 source: compass 00047 00048 pitch: ]-180.0 .. 180.0] in degrees, 0.0 is horizontal, 45.0 is ??? 00049 source: compass 00050 00051 roll: ]-180.0 .. 180.0] in degrees, 0.0 is horisontal, 45.0 is ??? 00052 source: compass 00053 00054 depth: in m, axis oriented Down, positive towards Down, zero at surface 00055 */ 00056 class Attitude 00057 { 00058 public: 00059 // ###################################################################### 00060 /*! @name Constructors and Destructors */ 00061 //@{ 00062 00063 //! Default Constructor 00064 /*! Intializes values to 0 */ 00065 inline Attitude(); 00066 00067 //! Destructor 00068 inline ~Attitude(); 00069 00070 //@} 00071 00072 // ###################################################################### 00073 Angle heading, pitch, roll; //!< Angular position from compass 00074 float depth; //!< depth from pressure sensor 00075 double compassTime, pressureTime; //!< Times last measures received, in s 00076 }; 00077 00078 00079 // ###################################################################### 00080 // ########## Inlined methods: 00081 // ###################################################################### 00082 inline Attitude::Attitude() : 00083 heading(0), pitch(0), roll(0), depth(0), compassTime(0.0), pressureTime(0.0) 00084 { } 00085 00086 // ###################################################################### 00087 inline Attitude::~Attitude() 00088 { } 00089 00090 #endif 00091 00092 // ###################################################################### 00093 /* So things look consistent in everyone's emacs... */ 00094 /* Local Variables: */ 00095 /* indent-tabs-mode: nil */ 00096 /* End: */
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