api/pslot.h

   1 #ifndef PSLOT_H
   2 #define PSLOT_H
   3
   4 /*! \brief Parking slot basic class.
   5
   6 This class contains some geometrical computations of parking slot. Parking slot
   7 consists of 4 cartesian coordinates `border` representing the border of the
   8 parking slot.
   9
  10 \param border Array of 4 `x`, `y` values - the borderd of the parking slot.
  11 */
  12 class ParkingSlot {
  13         private:
  14                 double border_[4][2] = {
  15                         {0, 0},
  16                         {1, 0},
  17                         {1, 2},
  18                         {0, 2}
  19                 };
  20         public:
  21                 // slot info
  22                 /*! \brief Return orientation of the parking slot.
  23
  24                 The orientation of the parking slot is computed as the
  25                 direction from the first to the last border coordinates.
  26                 */
  27                 double heading() const;
  28                 /*! \brief Return `true` if slot is parallel.
  29
  30                 There are two slot types - parallel and perpendicular.
  31                 */
  32                 bool parallel() const;
  33                 /*! \brief Return `true` if slot is on the right.
  34
  35                 The slot could be on right or the left side.
  36                 */
  37                 bool right() const;
  38
  39                 // getters, setters
  40                 double x1() const { return this->border_[0][0]; }
  41                 double y1() const { return this->border_[0][1]; }
  42                 double x2() const { return this->border_[1][0]; }
  43                 double y2() const { return this->border_[1][1]; }
  44                 double x3() const { return this->border_[2][0]; }
  45                 double y3() const { return this->border_[2][1]; }
  46                 double x4() const { return this->border_[3][0]; }
  47                 double y4() const { return this->border_[3][1]; }
  48                 /*! \brief Set parking slot border.
  49
  50                 \param x1 First `x` coordinate.
  51                 \param y1 First `y` coordinate.
  52                 \param x2 Second `x` coordinate.
  53                 \param y2 Second `y` coordinate.
  54                 \param x3 Third `x` coordinate.
  55                 \param y3 Third `y` coordinate.
  56                 \param x4 The last (fourth) `x` coordinate.
  57                 \param y4 The last (fourth) `y` coordinate.
  58                 */
  59                 void border(
  60                         double x1, double y1,
  61                         double x2, double y2,
  62                         double x3, double y3,
  63                         double x4, double y4
  64                 ) {
  65                         this->border_[0][0] = x1;
  66                         this->border_[0][1] = y1;
  67                         this->border_[1][0] = x2;
  68                         this->border_[1][1] = y2;
  69                         this->border_[2][0] = x3;
  70                         this->border_[2][1] = y3;
  71                         this->border_[3][0] = x4;
  72                         this->border_[3][1] = y4;
  73                 };
  74
  75                 ParkingSlot();
  76                 friend std::ostream &operator<<(
  77                         std::ostream &out,
  78                         const ParkingSlot &ps
  79                 )
  80                 {
  81                         out << "[[" << ps.x1() << "," << ps.y1() << "]";
  82                         out << ",[" << ps.x2() << "," << ps.y2() << "]";
  83                         out << ",[" << ps.x3() << "," << ps.y3() << "]";
  84                         out << ",[" << ps.x4() << "," << ps.y4() << "]";
  85                         out << "]";
  86                         return out;
  87                 }
  88 };
  89
  90 template <typename T> int sgn(T val) {
  91         return (T(0) < val) - (val < T(0));
  92 }
  93
  94 #endif /* PSLOT_H */