TPoint2D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/core/bits_math.h>
#include <mrpt/core/format.h>
#include <mrpt/math/TPoseOrPoint.h>
#include <cmath>
#include <vector>

namespace mrpt::math
{
/** \ingroup geometry_grp */
struct TPoint2D_data
{
    /** X,Y coordinates */
    double x, y;
};

/**
 * Lightweight 2D point. Allows coordinate access using [] operator.
 * \sa mrpt::poses::CPoint2D
 * \ingroup geometry_grp
 */
struct TPoint2D : public TPoseOrPoint,
                  public TPoint2D_data,
                  public internal::ProvideStaticResize<TPoint2D>
{
    enum
    {
        static_size = 2
    };
    /** Default constructor. Initializes to zeros  */
    constexpr TPoint2D() : TPoint2D_data{0, 0} {}
    /** Constructor from coordinates  */
    constexpr TPoint2D(double xx, double yy) : TPoint2D_data{xx, yy} {}
    constexpr TPoint2D(const TPoint2D_data& d) : TPoint2D_data{d.x, d.y} {}

    /** Constructor from TPose2D, discarding phi.
     * \sa TPose2D
     */
    explicit TPoint2D(const TPose2D& p);
    /**
     * Constructor from TPoint3D, discarding z.
     * \sa TPoint3D
     */
    explicit TPoint2D(const TPoint3D& p);
    /**
     * Constructor from TPose3D, discarding z and the angular coordinates.
     * \sa TPose3D
     */
    explicit TPoint2D(const TPose3D& p);

    /** Coordinate access using operator[]. Order: x,y */
    double& operator[](size_t i)
    {
        switch (i)
        {
            case 0:
                return x;
            case 1:
                return y;
            default:
                throw std::out_of_range("index out of range");
        }
    }
    /** Coordinate access using operator[]. Order: x,y */
    constexpr const double& operator[](size_t i) const
    {
        switch (i)
        {
            case 0:
                return x;
            case 1:
                return y;
            default:
                throw std::out_of_range("index out of range");
        }
    }

    /**
     * Transformation into vector.
     */
    void asVector(std::vector<double>& v) const
    {
        v.resize(2);
        v[0] = x;
        v[1] = y;
    }

    bool operator<(const TPoint2D& p) const;

    TPoint2D& operator+=(const TPoint2D& p)
    {
        x += p.x;
        y += p.y;
        return *this;
    }

    TPoint2D& operator-=(const TPoint2D& p)
    {
        x -= p.x;
        y -= p.y;
        return *this;
    }

    TPoint2D& operator*=(double d)
    {
        x *= d;
        y *= d;
        return *this;
    }

    TPoint2D& operator/=(double d)
    {
        x /= d;
        y /= d;
        return *this;
    }

    constexpr TPoint2D operator+(const TPoint2D& p) const
    {
        return {x + p.x, y + p.y};
    }

    constexpr TPoint2D operator-(const TPoint2D& p) const
    {
        return {x - p.x, y - p.y};
    }

    constexpr TPoint2D operator*(double d) const { return {d * x, d * y}; }
    constexpr TPoint2D operator/(double d) const { return {x / d, y / d}; }
    /** Returns a human-readable textual representation of the object (eg:
     * "[0.02 1.04]" )
     * \sa fromString
     */
    void asString(std::string& s) const { s = mrpt::format("[%f %f]", x, y); }
    std::string asString() const
    {
        std::string s;
        asString(s);
        return s;
    }

    /** Set the current object value from a string generated by 'asString' (eg:
     * "[0.02 1.04]" )
     * \sa asString
     * \exception std::exception On invalid format
     */
    void fromString(const std::string& s);

    /** Squared norm: |v|^2 = x^2+y^2 */
    double sqrNorm() const { return x * x + y * y; }

    /** Point norm: |v| = sqrt(x^2+y^2) */
    double norm() const { return std::sqrt(sqrNorm()); }
};

/** Exact comparison between 2D points */
constexpr bool operator==(const TPoint2D& p1, const TPoint2D& p2)
{
    return (p1.x == p2.x) && (p1.y == p2.y);  //-V550
}
/**  Exact comparison between 2D points */
constexpr bool operator!=(const TPoint2D& p1, const TPoint2D& p2)
{
    return (p1.x != p2.x) || (p1.y != p2.y);  //-V550
}

}  // namespace mrpt::math

namespace mrpt::typemeta
{
// Specialization must occur in the same namespace
MRPT_DECLARE_TTYPENAME_NO_NAMESPACE(TPoint2D, mrpt::math)
}  // namespace mrpt::typemeta