RobotAlgos.h

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/***************************************************************************
 *   Copyright (c) Jürgen Riegel          (juergen.riegel@web.de) 2009     *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  is distributed in the hope that it will be useful,      *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/

 


#ifndef _RobotAlgos_h_
#define _RobotAlgos_h_

#include <Base/Vector3D.h>
#include <string>

#include "kdl_cp/frames_io.hpp"
#include <Base/Placement.h>

namespace Robot
{


class RobotExport RobotAlgos
{

public:
        RobotAlgos(void);
        virtual ~RobotAlgos();

    void Test(void);
};

inline  KDL::Frame toFrame(const Base::Placement &To){
    return KDL::Frame(KDL::Rotation::Quaternion(To.getRotation()[0],To.getRotation()[1],To.getRotation()[2],To.getRotation()[3]),KDL::Vector(To.getPosition()[0],To.getPosition()[1],To.getPosition()[2]));
}
inline  Base::Placement toPlacement(const KDL::Frame &To){
        double x,y,z,w;
        To.M.GetQuaternion(x,y,z,w);
        return Base::Placement(Base::Vector3d(To.p[0],To.p[1],To.p[2]),Base::Rotation(x,y,z,w));
}

} //namespace Robot



#endif