[Personalrobots-commit] SF.net SVN: personalrobots: [122] pkg/trunk/libTF/simple

[<tf...@us...>]

Revision: 122
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=122&view=rev
Author:   tfoote
Date:     2008-04-17 16:52:04 -0700 (Thu, 17 Apr 2008)

Log Message:
-----------
overloading << operator and adding const correctness checking

Modified Paths:
--------------
    pkg/trunk/libTF/simple/Quaternion3D.cc
    pkg/trunk/libTF/simple/Quaternion3D.hh

Modified: pkg/trunk/libTF/simple/Quaternion3D.cc
===================================================================
--- pkg/trunk/libTF/simple/Quaternion3D.cc	2008-04-17 23:37:45 UTC (rev 121)
+++ pkg/trunk/libTF/simple/Quaternion3D.cc	2008-04-17 23:52:04 UTC (rev 122)
@@ -238,14 +238,22 @@
   return mystream;
 };
 
+Quaternion3D::Quaternion3DStorage Quaternion3D::asQuaternion(unsigned long long time)
+{
+  Quaternion3DStorage temp;
+  long long diff_time; //todo Find a way to use this offset. pass storage by reference and return diff_time??
+  getValue(temp, time, diff_time);
+  return temp;
+};
 
+
 NEWMAT::Matrix Quaternion3D::asMatrix(unsigned long long time)
 {
   Quaternion3DStorage temp;
   long long diff_time;
   getValue(temp, time, diff_time);
 
-  std::cout << temp;
+  //  std::cout << temp;
   //  printStorage(temp);
   // std::cout <<"Locally: "<< xt <<", "<< yt  <<", "<< zt <<", "<< xr <<", "<<yr  <<", "<<zr  <<", "<<w<<std::endl;
   //std::cout << "time Difference: "<< diff_time<<std::endl;

Modified: pkg/trunk/libTF/simple/Quaternion3D.hh
===================================================================
--- pkg/trunk/libTF/simple/Quaternion3D.hh	2008-04-17 23:37:45 UTC (rev 121)
+++ pkg/trunk/libTF/simple/Quaternion3D.hh	2008-04-17 23:52:04 UTC (rev 122)
@@ -57,11 +57,17 @@
   class Quaternion3DStorage
   {
   public:
+
+    /** Unary operators preserve timestamps
+     * Binary operators destroy timestamps */
+
     // Utility functions to normalize and get magnitude.
     void Normalize();
     double getMagnitude();
     Quaternion3DStorage & operator=(const Quaternion3DStorage & input);
-    
+
+
+    /* Internal Data */    
     double xt, yt, zt, xr, yr, zr, w;
     unsigned long long time;
   };
@@ -90,13 +96,14 @@
 				 double pitch, double roll);
   
 
-  /** Accessors **/
+  /** Interpolated Accessors **/
   // Return a Matrix
+  Quaternion3D::Quaternion3DStorage asQuaternion(unsigned long long time);
   NEWMAT::Matrix asMatrix(unsigned long long time);
 
   //Print as a matrix
-  void printMatrix(unsigned long long time);
-  void printStorage(const Quaternion3DStorage &storage);
+  void printMatrix(unsigned long long time);  //Not a critical part either
+  void printStorage(const Quaternion3DStorage &storage); //Do i need this now that i've got the ostream method??
 
   // this is a function to return the current time in microseconds from the beginning of 1970
   static  unsigned long long Qgettime(void);


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