CPoint.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#ifndef CPOINT_H
#define CPOINT_H
 
#include <mrpt/poses/CPoseOrPoint.h>
#include <mrpt/math/CMatrixTemplateNumeric.h>
 
namespace mrpt
{
namespace poses
{
/** A base class for representing a point in 2D or 3D.
 *   For more information refer to the <a
 * href="http://www.mrpt.org/2D_3D_Geometry">2D/3D Geometry tutorial</a> online.
 * \note This class is based on the CRTP design pattern
 * \sa CPoseOrPoint, CPose
 * \ingroup poses_grp
 */
template <class DERIVEDCLASS>
class CPoint : public CPoseOrPoint<DERIVEDCLASS>
{
        DERIVEDCLASS& derived() { return *static_cast<DERIVEDCLASS*>(this); }
        const DERIVEDCLASS& derived() const
        {
                return *static_cast<const DERIVEDCLASS*>(this);
        }
 
   public:
        /** @name Methods common to all 2D or 3D points
                @{ */
 
        /** Scalar addition of all coordinates.
         * This is diferent from poses/point composition, which is implemented as
         * "+" operators in classes derived from "CPose"
         */
        template <class OTHERCLASS>
        inline void AddComponents(const OTHERCLASS& b)
        {
                const int dims = std::min(
                        size_t(DERIVEDCLASS::static_size),
                        size_t(OTHERCLASS::is3DPoseOrPoint() ? 3 : 2));
                for (int i = 0; i < dims; i++)
                        derived().m_coords[i] +=
                                static_cast<const OTHERCLASS*>(&b)->m_coords[i];
        }
 
        /** Scalar multiplication. */
        inline void operator*=(const double s)
        {
                for (int i = 0; i < DERIVEDCLASS::static_size; i++)
                        derived().m_coords[i] *= s;
        }
 
        /** Return the pose or point as a 1x2 or 1x3 vector [x y] or [x y z] */
        inline void getAsVector(mrpt::math::CVectorDouble& v) const
        {
                v.resize(DERIVEDCLASS::static_size);
                for (int i = 0; i < DERIVEDCLASS::static_size; i++)
                        v[i] = static_cast<const DERIVEDCLASS*>(this)->m_coords[i];
        }
        //! \overload
        inline mrpt::math::CVectorDouble getAsVector() const
        {
                mrpt::math::CVectorDouble v;
                getAsVector(v);
                return v;
        }
 
        /** Returns the corresponding 4x4 homogeneous transformation matrix for the
         * point(translation) or pose (translation+orientation).
         * \sa getInverseHomogeneousMatrix
         */
        template <class MATRIX44>
        void getHomogeneousMatrix(MATRIX44& out_HM) const
        {
                out_HM.unit(4, 1.0);
                out_HM.get_unsafe(0, 3) = static_cast<const DERIVEDCLASS*>(this)->x();
                out_HM.get_unsafe(1, 3) = static_cast<const DERIVEDCLASS*>(this)->y();
                if (DERIVEDCLASS::is3DPoseOrPoint())
                        out_HM.get_unsafe(2, 3) =
                                static_cast<const DERIVEDCLASS*>(this)->m_coords[2];
        }
 
        /** Returns a human-readable textual representation of the object (eg:
         * "[0.02 1.04]" )
         * \sa fromString
         */
        void asString(std::string& s) const
        {
                s = (!DERIVEDCLASS::is3DPoseOrPoint())
                                ? mrpt::format(
                                          "[%f %f]", static_cast<const DERIVEDCLASS*>(this)->x(),
                                          static_cast<const DERIVEDCLASS*>(this)->y())
                                : mrpt::format(
                                          "[%f %f %f]", static_cast<const DERIVEDCLASS*>(this)->x(),
                                          static_cast<const DERIVEDCLASS*>(this)->y(),
                                          static_cast<const DERIVEDCLASS*>(this)->m_coords[2]);
        }
        inline 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)
        {
                mrpt::math::CMatrixDouble m;
                if (!m.fromMatlabStringFormat(s))
                        THROW_EXCEPTION("Malformed expression in ::fromString");
                ASSERT_EQUAL_(m.rows(), 1);
                ASSERT_EQUAL_(m.cols(), DERIVEDCLASS::static_size);
                for (int i = 0; i < DERIVEDCLASS::static_size; i++)
                        derived().m_coords[i] = m(0, i);
        }
 
        inline const double& operator[](unsigned int i) const
        {
                return static_cast<const DERIVEDCLASS*>(this)->m_coords[i];
        }
        inline double& operator[](unsigned int i) { return derived().m_coords[i]; }
        /** @} */
 
};  // End of class def.
 
/** Dumps a point as a string [x,y] or [x,y,z]  */
template <class DERIVEDCLASS>
std::ostream& operator<<(std::ostream& o, const CPoint<DERIVEDCLASS>& p)
{
        o << "(" << p[0] << "," << p[1];
        if (p.is3DPoseOrPoint()) o << "," << p[2];
        o << ")";
        return o;
}
 
/** Used by STL algorithms */
template <class DERIVEDCLASS>
bool operator<(const CPoint<DERIVEDCLASS>& a, const CPoint<DERIVEDCLASS>& b)
{
        if (a.x() < b.x())
                return true;
        else
        {
                if (!a.is3DPoseOrPoint())
                        return a.y() < b.y();
                else if (a.y() < b.y())
                        return true;
                else
                        return a[2] < b[2];
        }
}
 
template <class DERIVEDCLASS>
bool operator==(const CPoint<DERIVEDCLASS>& p1, const CPoint<DERIVEDCLASS>& p2)
{
        for (int i = 0; i < DERIVEDCLASS::static_size; i++)
                if (p1[i] != p2[i]) return false;  //-V550
        return true;
}
 
template <class DERIVEDCLASS>
bool operator!=(const CPoint<DERIVEDCLASS>& p1, const CPoint<DERIVEDCLASS>& p2)
{
        for (int i = 0; i < DERIVEDCLASS::static_size; i++)
                if (p1[i] != p2[i]) return true;  //-V550
        return false;
}
 
}  // namespace poses
}  // namespace mrpt
 
#endif