42 lines
795 B
C++
42 lines
795 B
C++
class Point2 {
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Point2();
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Point2(double x, double y);
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void print(string s) const;
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double x();
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double y();
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};
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class Point3 {
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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void print(string s) const;
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Vector vector() const;
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double x();
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double y();
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double z();
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};
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class Rot2 {
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Rot2();
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};
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class Pose2 {
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Pose2();
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Pose2(const Pose2& pose);
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Pose2(double x, double y, double theta);
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Pose2(double theta, const Point2& t);
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Pose2(const Rot2& r, const Point2& t);
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void print(string s) const;
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bool equals(const Pose2& pose, double tol) const;
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double x() const;
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double y() const;
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double theta() const;
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size_t dim() const;
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Pose2 expmap(Vector v) const;
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Vector logmap(const Pose2& pose) const;
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Point2 t() const;
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Rot2 r() const;
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};
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