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/********************************************************************
* Description: canon_position.hh
*
* CANON position class with operators and common functions
* Derived from a work by Thomas Kramer
*
* Author: Robert W. Ellenberg
* License: GPL Version 2+
* System: Linux
*
* Copyright (c) 2014 All rights reserved.
********************************************************************/
#ifndef CANON_POSITION_HH
#define CANON_POSITION_HH
#include <stdio.h> // FILE
#include <vector>
#include "emcpos.h"
#include "emctool.h"
#include "posemath.h" // For PM_CARTESIAN type
struct CANON_POSITION {
#ifndef JAVA_DIAG_APPLET
CANON_POSITION() :
x(0.0),
y(0.0),
z(0.0),
a(0.0),
b(0.0),
c(0.0),
u(0.0),
v(0.0),
w(0.0) {}
CANON_POSITION(double _x, double _y, double _z,
double _a, double _b, double _c,
double _u, double _v, double _w);
CANON_POSITION(const EmcPose &_pos);
CANON_POSITION(PM_CARTESIAN const &xyz);
CANON_POSITION(PM_CARTESIAN const &xyz, PM_CARTESIAN const &abc);
bool operator==(const CANON_POSITION &o) const;
bool operator!=(const CANON_POSITION &o) const;
CANON_POSITION & operator+=(const CANON_POSITION &o);
CANON_POSITION & operator+=(const EmcPose &o);
const CANON_POSITION operator+(const CANON_POSITION &o) const;
const CANON_POSITION operator+(const EmcPose &o) const;
CANON_POSITION & operator-=(const CANON_POSITION &o);
CANON_POSITION & operator-=(const EmcPose &o);
const CANON_POSITION operator-(const CANON_POSITION &o) const;
const CANON_POSITION operator-(const EmcPose &o) const;
double &operator[](const int ind);
const CANON_POSITION abs() const;
const CANON_POSITION absdiff(const CANON_POSITION &o) const;
const double max() const;
const EmcPose toEmcPose() const;
const PM_CARTESIAN xyz() const;
const PM_CARTESIAN abc() const;
const PM_CARTESIAN uvw() const;
void set_xyz(const PM_CARTESIAN & xyz);
void print() const;
#endif
double x, y, z, a, b, c, u, v, w;
};
#endif /* ifndef CANON_POSITION_HH */
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