CPolygon.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "math-precomp.h"  // Precompiled headers

#include <mrpt/math/CPolygon.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt;
using namespace mrpt::math;
using namespace std;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CPolygon, CSerializable, mrpt::math)

uint8_t CPolygon::serializeGetVersion() const { return 2; }
void CPolygon::serializeTo(mrpt::serialization::CArchive& out) const
{
    // The number of vertexs:
    const auto n = (uint32_t)TPolygon2D::size();

    // Size:
    out << n;

    // Vertices:
    if (n)
        out.WriteBufferFixEndianness<double>(
            (double*)&TPolygon2D::operator[](0), 2 * n);
}

void CPolygon::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:  // floats
        {
            // The number of vertexs:
            uint32_t i, n;
            float f;

            // All elemental typed variables:
            in >> n;
            in >> f;  // max_x=f;
            in >> f;  // max_y=f;
            in >> f;  // min_x=f;
            in >> f;  // min_y=f;
            in >> f;  // cx=f;
            in >> f;  // cy=f;

            TPolygon2D::resize(n);

            // The vertexs arrays:
            for (i = 0; i < n; i++)
            {
                in >> f;
                TPolygon2D::operator[](i).x = f;
            }
            for (i = 0; i < n; i++)
            {
                in >> f;
                TPolygon2D::operator[](i).y = f;
            }
        }
        break;

        case 1:
        {
            // The number of vertexs:
            uint32_t n;
            double dumm;

            // All elemental typed variables:
            in >> n >> dumm >> dumm >> dumm >> dumm >> dumm >> dumm;
            // max_x >> max_y >> min_x >> min_y >> cx >> cy;

            TPolygon2D::resize(n);

            // The vertexs arrays:
            for (size_t i = 0; i < n; i++)
            {
                in >> dumm;
                TPolygon2D::operator[](i).x = dumm;
            }
            for (size_t i = 0; i < n; i++)
            {
                in >> dumm;
                TPolygon2D::operator[](i).y = dumm;
            }
        }
        break;
        case 2:
        {
            // The number of vertexs:
            uint32_t n;

            // All elemental typed variables:
            in >> n;

            TPolygon2D::resize(n);

            // The vertexs arrays:
            if (n > 0)
                in.ReadBufferFixEndianness<double>(
                    (double*)&TPolygon2D::operator[](0), 2 * n);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

/*---------------------------------------------------------------
    Set all vertices at once, not to be used normally.
  ---------------------------------------------------------------*/
void CPolygon::setAllVertices(
    const std::vector<double>& x, const std::vector<double>& y)
{
    ASSERT_(x.size() == y.size() && !x.empty());
    setAllVertices(x.size(), &x[0], &y[0]);
}

/*---------------------------------------------------------------
    Set all vertices at once, not to be used normally.
  ---------------------------------------------------------------*/
void CPolygon::setAllVertices(
    size_t nVertices, const double* xs, const double* ys)
{
    // Resize:
    TPolygon2D::resize(nVertices);
    for (size_t i = 0; i < nVertices; i++)
    {
        TPolygon2D::operator[](i).x = xs[i];
        TPolygon2D::operator[](i).y = ys[i];
    }
}

/*---------------------------------------------------------------
    Set all vertices at once, not to be used normally.
  ---------------------------------------------------------------*/
void CPolygon::setAllVertices(
    size_t nVertices, const float* xs, const float* ys)
{
    // Resize:
    TPolygon2D::resize(nVertices);
    for (size_t i = 0; i < nVertices; i++)
    {
        TPolygon2D::operator[](i).x = xs[i];
        TPolygon2D::operator[](i).y = ys[i];
    }
}

void CPolygon::getAllVertices(
    std::vector<double>& x, std::vector<double>& y) const
{
    // Resize:
    const size_t n = TPolygon2D::size();
    x.resize(n);
    y.resize(n);
    for (size_t i = 0; i < n; i++)
    {
        x[i] = TPolygon2D::operator[](i).x;
        y[i] = TPolygon2D::operator[](i).y;
    }
}