Spherical.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_MDL_SPHERICAL_H
#define RL_MDL_SPHERICAL_H
 
#include "Joint.h"
 
namespace rl
{
    namespace mdl
    {
        class Spherical : public Joint
        {
        public:
            Spherical();
            
            virtual ~Spherical();
            
            void clip(::rl::math::Vector& q) const;
            
            ::rl::math::Real distance(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2) const;
            
            ::rl::math::Vector generatePositionGaussian(const ::rl::math::ConstVectorRef& rand, const ::rl::math::ConstVectorRef& mean, const ::rl::math::ConstVectorRef& sigma) const;
            
            ::rl::math::Vector generatePositionUniform(const ::rl::math::ConstVectorRef& rand) const;
            
            void interpolate(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2, const ::rl::math::Real& alpha, ::rl::math::Vector& q) const;
            
            void normalize(::rl::math::Vector& q) const;
            
            void setPosition(const ::rl::math::Vector& q);
            
            void step(const ::rl::math::Vector& q1, const ::rl::math::Vector& qdot, ::rl::math::Vector& q2) const;
            
            ::rl::math::Real transformedDistance(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2) const;
            
        protected:
            
        private:
            
        };
    }
}
 
#endif // RL_MDL_SPHERICAL_H