X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/blobdiff_plain/37f51ce08240dc4c677197ec4a142f97de6d8356..3121301770eb1b42bf64320abcd2e1e9dd606e16:/incl/bcar.hh

diff --git a/incl/bcar.hh b/incl/bcar.hh
index ad33a7d..1ca3a7a 100644
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -18,8 +18,8 @@ private:
 	double x_ = 0.0;
 	double y_ = 0.0;
 public:
-	Point(double x, double y);
 	Point();
+	Point(double x, double y);
 
 	/*! Get horizontal coordinate. */
 	double x() const;
@@ -51,8 +51,8 @@ public:
 
 	/*! \brief Return `true` if on the right side of the plane.
 	 *
-	 * The plane is given by the line `li`, where `li->fp()` is the base
-	 * point and the direction is given by `li->lp() - li->fp()`.
+	 * The plane is given by the line `li`, where `li->b()` is the base
+	 * point and the direction is given by `li->e() - li->b()`.
 	 *
 	 * \param li The plane to consider is given by `li`.
 	 */
@@ -73,29 +73,29 @@ public:
 
 class Line {
 private:
-	Point first;
-	Point last;
-	Point intersection1;
-	Point intersection2;
+	Point b_;
+	Point e_;
+	Point i1_;
+	Point i2_;
 public:
 	Line(Point const& fp, Point const& lp);
 
-	/*! Get first point. */
-	Point fp() const&;
+	/*! Get beginning point. */
+	Point b() const&;
 
-	/*! Get last point. */
-	Point lp() const&;
+	/*! Get end point. */
+	Point e() const&;
 
 	/*! Get intersection point. */
-	Point in1() const&;
+	Point i1() const&;
 
 	/*! Get intersection point. */
-	Point in2() const&;
+	Point i2() const&;
 
 	/*! \brief Return if `this` line intersects with line `li`.
 	 *
 	 * If the method returns `true`, the intersection `Point` is available
-	 * in `this->in1()`.
+	 * in `this->i1()`.
 	 *
 	 * \see https://en.wikipedia.org/wiki/Line%E2%80%93line_intersection
 	 *
@@ -106,7 +106,7 @@ public:
 	/*! \brief Return intersections of `this` (infinite) line and circle.
 	 *
 	 * If the method returns `true`, the intersection `Point`s are available
-	 * in `this->in1()` and `this->in2()`.
+	 * in `this->i1()` and `this->i2()`.
 	 *
 	 * \see https://mathworld.wolfram.com/Circle-LineIntersection.html
 	 *
@@ -125,8 +125,8 @@ class Pose : public virtual Point {
 private:
 	double h_ = 0.0;
 public:
+	using Point::Point;
 	Pose(double x, double y, double h);
-	Pose();
 
 	/*! Get heading in the interval [-pi, +pi] radians. */
 	double h() const;
@@ -170,11 +170,11 @@ public:
  */
 class CarSize {
 private:
-	double curb_to_curb = 10.820;
-	double width = 1.625;
-	double wheelbase = 2.450;
-	double distance_to_front = 3.105;
-	double length = 3.760;
+	double curb_to_curb_ = 10.820;
+	double width_ = 1.625;
+	double wheelbase_ = 2.450;
+	double distance_to_front_ = 3.105;
+	double length_ = 3.760;
 public:
 	/*! Get curb-to-curb distance. */
 	double ctc() const;
@@ -212,7 +212,7 @@ public:
 	/*! \brief Get minimum turning radius.
 	 *
 	 * Please, note that the method returns really _minimum turning radius_,
-	 * which is the distance from the reare axle center to the center of
+	 * which is the distance from the rear axle center to the center of
 	 * left or right rotation given by the kinematics constrants, i.e.
 	 * _wheelbase_ and _curb-to-curb_ distance.
 	 *
@@ -259,8 +259,8 @@ public:
 /*! Store car motion. */
 class CarMove {
 private:
-	double speed = 0.0;
-	double steer = 0.0;
+	double speed_ = 0.0;
+	double steer_ = 0.0;
 public:
 	/*! Get speed. */
 	double sp() const;