CPoint2D.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "base-precomp.h"  // Precompiled headers
 
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/utils/CStream.h>
#include <limits>
 
using namespace mrpt::poses;
using namespace mrpt::utils;
using namespace mrpt::math;
 
IMPLEMENTS_SERIALIZABLE(CPoint2D, CSerializable, mrpt::poses)
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CPoint2D::writeToStream(mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 1;
        else
        {
                // The coordinates:
                out << m_coords[0] << m_coords[1];
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CPoint2D::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        // The coordinates:
                        float f;
                        in >> f;
                        m_coords[0] = f;
                        in >> f;
                        m_coords[1] = f;
                }
                break;
                case 1:
                {
                        // The coordinates:
                        in >> m_coords[0] >> m_coords[1];
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}
 
/*---------------------------------------------------------------
The operator D="this"-b is the pose inverse compounding operator.
   The resulting pose "D" is the diference between this pose and "b"
 ---------------------------------------------------------------*/
CPoint2D CPoint2D::operator-(const CPose2D& b) const
{
        const double ccos = cos(b.phi());
        const double ssin = sin(b.phi());
        const double Ax = x() - b.x();
        const double Ay = y() - b.y();
 
        return CPoint2D(Ax * ccos + Ay * ssin, -Ax * ssin + Ay * ccos);
}
 
void CPoint2D::setToNaN()
{
        for (int i = 0; i < 2; i++)
                m_coords[i] = std::numeric_limits<double>::quiet_NaN();
}