+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <cmath>
#include "bcar.hh"
{
}
-Point::Point(double x, double y) : x_(x), y_(y)
+Point::Point(double x, double y) : _x(x), _y(y)
{
}
double
Point::x() const
{
- return this->x_;
+ return this->_x;
}
void
Point::x(double x)
{
- this->x_ = x;
+ this->_x = x;
}
double
Point::y() const
{
- return this->y_;
+ return this->_y;
}
void
Point::y(double y)
{
- this->y_ = y;
+ this->_y = y;
}
double
auto y1 = li.b().y();
auto x2 = li.e().x();
auto y2 = li.e().y();
- auto x3 = this->x_;
- auto y3 = this->y_;
+ auto x3 = this->_x;
+ auto y3 = this->_y;
if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
return false;
} else {
}
}
+void
+Point::translate(Point const& p)
+{
+ this->_x += p.x();
+ this->_y += p.y();
+}
+
void
Point::rotate(Point const& c, double const angl)
{
Point::reflect(Line const& li)
{
this->rotate(li.b(), -li.h());
- this->y_ -= li.b().y();
- this->y_ *= -1.0;
- this->y_ += li.b().y();
+ this->_y -= li.b().y();
+ this->_y *= -1.0;
+ this->_y += li.b().y();
this->rotate(li.b(), li.h());
}
double
Point::edist(Point const& p) const
{
- return sqrt(pow(p.x() - this->x_, 2.0) + pow(p.y() - this->y_, 2.0));
+ return sqrt(pow(p.x() - this->_x, 2.0) + pow(p.y() - this->_y, 2.0));
}
bool
return out;
}
-Line::Line(Point const& b, Point const& e): b_(b), e_(e)
+Line::Line(Point const& b, Point const& e): _b(b), _e(e)
{
}
Point
Line::b() const&
{
- return this->b_;
+ return this->_b;
}
Point
Line::e() const&
{
- return this->e_;
+ return this->_e;
+}
+
+Point
+Line::m() const
+{
+ return Point((this->_b.x() + this->_e.x()) / 2.0,
+ (this->_b.y() + this->_e.y()) / 2.0);
}
Point
Line::i1() const&
{
- return this->i1_;
+ return this->_i1;
}
Point
Line::i2() const&
{
- return this->i2_;
+ return this->_i2;
}
bool
Line::intersects_with(Line const& li)
{
- auto x1 = this->b_.x();
- auto y1 = this->b_.y();
- auto x2 = this->e_.x();
- auto y2 = this->e_.y();
+ auto x1 = this->_b.x();
+ auto y1 = this->_b.y();
+ auto x2 = this->_e.x();
+ auto y2 = this->_e.y();
auto x3 = li.b().x();
auto y3 = li.b().y();
auto x4 = li.e().x();
if (t < 0.0 || t > 1.0 || u < 0.0 || u > 1.0) {
return false;
}
- this->i1_.x(x1 + t * (x2 - x1));
- this->i1_.y(y1 + t * (y2 - y1));
+ this->_i1.x(x1 + t * (x2 - x1));
+ this->_i1.y(y1 + t * (y2 - y1));
return true;
}
bool
Line::intersects_with(Point const& c, double const r)
{
- auto x1 = this->b_.x();
- auto y1 = this->b_.y();
- auto x2 = this->e_.x();
- auto y2 = this->e_.y();
+ auto x1 = this->_b.x();
+ auto y1 = this->_b.y();
+ auto x2 = this->_e.x();
+ auto y2 = this->_e.y();
auto cx = c.x();
auto cy = c.y();
x2 -= cx;
iy1 += cy;
double iy2 = (-D*dx - std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
iy2 += cy;
- this->i1_.x(ix1);
- this->i1_.y(iy1);
- this->i2_.x(ix2);
- this->i2_.y(iy2);
+ this->_i1.x(ix1);
+ this->_i1.y(iy1);
+ this->_i2.x(ix2);
+ this->_i2.y(iy2);
return true;
}
double
Line::len() const
{
- return this->b_.edist(this->e_);
+ return this->_b.edist(this->_e);
}
double
Line::h() const
{
- return atan2(this->e_.y() - this->b_.y(), this->e_.x() - this->b_.x());
+ return atan2(this->_e.y() - this->_b.y(), this->_e.x() - this->_b.x());
}
std::ostream&
operator<<(std::ostream& out, Line const& li)
{
- out << "[" << li.b_ << "," << li.e_ << "]";
+ out << "[" << li._b << "," << li._e << "]";
return out;
}
-Pose::Pose(double x, double y, double h) : Point(x, y), h_(h)
+Pose::Pose(double x, double y, double h) : Point(x, y), _h(h)
{
}
double
Pose::h() const
{
- return this->h_;
+ return this->_h;
}
void
while (h > +M_PI) {
h -= 2 * M_PI;
}
- this->h_ = h;
+ this->_h = h;
}
void
PoseRange::set_xyh()
{
double clen = 10.0;
- double bpbx = this->bp_.x() - clen * cos(this->bp_.h());
- double bpby = this->bp_.y() - clen * sin(this->bp_.h());
- double bpfx = this->bp_.x() + clen * cos(this->bp_.h());
- double bpfy = this->bp_.y() + clen * sin(this->bp_.h());
+ double bpbx = this->_bp.x() - clen * cos(this->_bp.h());
+ double bpby = this->_bp.y() - clen * sin(this->_bp.h());
+ double bpfx = this->_bp.x() + clen * cos(this->_bp.h());
+ double bpfy = this->_bp.y() + clen * sin(this->_bp.h());
Line li1(Point(bpbx, bpby), Point(bpfx, bpfy));
- double epbx = this->ep_.x() - clen * cos(this->ep_.h());
- double epby = this->ep_.y() - clen * sin(this->ep_.h());
- double epfx = this->ep_.x() + clen * cos(this->ep_.h());
- double epfy = this->ep_.y() + clen * sin(this->ep_.h());
+ double epbx = this->_ep.x() - clen * cos(this->_ep.h());
+ double epby = this->_ep.y() - clen * sin(this->_ep.h());
+ double epfx = this->_ep.x() + clen * cos(this->_ep.h());
+ double epfy = this->_ep.y() + clen * sin(this->_ep.h());
Line li2(Point(epbx, epby), Point(epfx, epfy));
li1.intersects_with(li2);
this->x(li1.i1().x());
this->y(li1.i1().y());
+ double bh = this->b();
+ while (bh < 0.0) {
+ bh += 2.0 * M_PI;
+ }
+ this->_bp.h(bh);
+ double eh = this->e();
+ while (eh < 0.0) {
+ eh += 2.0 * M_PI;
+ }
+ this->_ep.h(eh);
this->h((this->b() + this->e()) / 2.0);
}
-PoseRange::PoseRange(Pose bp, Pose ep) : bp_(bp), ep_(ep)
+PoseRange::PoseRange(Pose bp, Pose ep) : _bp(bp), _ep(ep)
{
- if (this->bp_ == this->ep_) {
- this->set_pose(this->ep_);
+ if (this->_bp == this->_ep) {
+ this->set_pose(this->_ep);
} else {
this->set_xyh();
}
}
+PoseRange::PoseRange(double x, double y, double b, double e)
+ : PoseRange(Pose(x, y, b), Pose(x, y, e))
+{
+}
+
Pose
PoseRange::bp() const
{
- return this->bp_;
+ return this->_bp;
}
Pose
PoseRange::ep() const
{
- return this->ep_;
+ return this->_ep;
}
double
PoseRange::b() const
{
- return std::min(this->bp_.h(), this->ep_.h());
+ return std::min(this->_bp.h(), this->_ep.h());
}
double
PoseRange::e() const
{
- return std::max(this->bp_.h(), this->ep_.h());
+ return std::max(this->_bp.h(), this->_ep.h());
+}
+
+void
+PoseRange::translate(Point const& p)
+{
+ this->_bp.translate(p);
+ this->_ep.translate(p);
+ this->set_xyh();
}
void
PoseRange::rotate(Point const& c, double const angl)
{
- this->bp_.rotate(c, angl);
- this->ep_.rotate(c, angl);
+ this->_bp.rotate(c, angl);
+ this->_ep.rotate(c, angl);
this->set_xyh();
}
void
PoseRange::reflect(Line const& li)
{
- this->bp_.reflect(li);
- this->ep_.reflect(li);
+ this->_bp.reflect(li);
+ this->_ep.reflect(li);
this->set_xyh();
}
double
CarSize::ctc() const
{
- return this->curb_to_curb_;
+ return this->_curb_to_curb;
}
void
CarSize::ctc(double ctc)
{
- this->curb_to_curb_ = ctc;
+ this->_curb_to_curb = ctc;
}
double
CarSize::wb() const
{
- return this->wheelbase_;
+ return this->_wheelbase;
}
void
CarSize::wb(double wb)
{
- this->wheelbase_ = wb;
+ this->_wheelbase = wb;
}
double
CarSize::w() const
{
- return this->width_;
+ return this->_width;
}
void
CarSize::w(double w)
{
- this->width_ = w;
+ this->_width = w;
}
double
CarSize::len() const
{
- return this->length_;
+ return this->_length;
}
void
CarSize::len(double len)
{
- this->length_ = len;
+ this->_length = len;
}
double
CarSize::df() const
{
- return this->distance_to_front_;
+ return this->_distance_to_front;
}
void
CarSize::df(double df)
{
- this->distance_to_front_ = df;
+ this->_distance_to_front = df;
}
double
return this->len() - this->df();
}
+void
+CarSize::ft(double ft)
+{
+ this->_front_track = ft;
+}
+
+double
+CarSize::ft() const
+{
+ return this->_front_track;
+}
+
double
CarSize::mtr() const
{
auto ctc2 = pow(this->ctc() / 2.0, 2.0);
auto wb2 = pow(this->wb(), 2.0);
- return sqrt(ctc2 - wb2) - this->w() / 2.0;
+ return sqrt(ctc2 - wb2) - this->ft() / 2.0;
}
double
double
CarMove::sp() const
{
- return this->speed_;
+ return this->_speed;
}
void
CarMove::sp(double sp)
{
- this->speed_ = sp;
+ this->_speed = sp;
}
double
CarMove::st() const
{
- return this->steer_;
+ return this->_steer;
}
void
CarMove::st(double st)
{
- this->steer_ = st;
+ this->_steer = st;
}
bool
projects / hubacji1 / bcar.git / blobdiff