state.hpp

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#ifndef QTCTRL_STATE
#define QTCTRL_STATE


#include <iSeeML/rob/OrPtConfig.hpp>


class State : public iSeeML::rob::Object {
  double t;                        
  iSeeML::rob::OrPtConfig config;  
  double translation_vel;       
  double rotation_vel;             

public:
  static const string ClassName; 

  State() : t(0), config(), translation_vel(0), rotation_vel(0) {} 
  
  State(const double& date, const iSeeML::rob::OrPtConfig& q,
        const double& trans_vel, const double& rot_vel)
    : t(date), config(q), translation_vel(trans_vel),
      rotation_vel(rot_vel) {}
  
  // The default copy constructor is OK. 

  const double& date() const { return t; } 

  const iSeeML::rob::OrPtConfig& configuration() const
  { return config; } 

  const double& translationVelocity() const
  { return translation_vel; } 

  const double& rotationVelocity() const { return rotation_vel; } 

  bool operator==(const State& other) const { 
    return( ( configuration() == other.configuration() ) && 
            isZero( translationVelocity()
                    - other.translationVelocity() ) && 
            isZero( rotationVelocity() - other.rotationVelocity() )
            ); } 

  iSeeML::Object& clone() const 
  { return *( (iSeeML::Object*) (new State(*this)) ); } 

  void writeTo(std::ostream& O) const {
    const iSeeML::rob::OrPtConfig& q = configuration();
    const iSeeML::geom::Point&  P = q.position(); 
    O << '(' << P.xCoord() << ", " << P.yCoord() << ", "
      << q.orientation() << ", " << translationVelocity()
      << ", " << rotationVelocity() << ')';
  } // end of void writeTo(std::ostream&) const
  
  State operator+(const iSeeML::rob::OrPtConfig& q) const 
  { State res(*this);  res += q;  return(res); } 

  void operator+=(const iSeeML::rob::OrPtConfig& q) { config += q; } 

}; // end of class State

#endif // QTCTRL_STATE