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

diff --git a/src/bcar.cc b/src/bcar.cc
index 32b2b88..8825fb7 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -3,11 +3,11 @@
 
 namespace bcar {
 
-Point::Point(double x, double y) : x_(x), y_(y)
+Point::Point()
 {
 }
 
-Point::Point() : Point::Point(0.0, 0.0)
+Point::Point(double x, double y) : x_(x), y_(y)
 {
 }
 
@@ -82,10 +82,10 @@ Point::inside_of(std::vector<Point> const& poly) const
 bool
 Point::on_right_side_of(Line const& li) const
 {
-	auto x1 = li.fp().x();
-	auto y1 = li.fp().y();
-	auto x2 = li.lp().x();
-	auto y2 = li.lp().y();
+	auto x1 = li.b().x();
+	auto y1 = li.b().y();
+	auto x2 = li.e().x();
+	auto y2 = li.e().y();
 	auto x3 = this->x_;
 	auto y3 = this->y_;
 	if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
@@ -121,46 +121,45 @@ operator<<(std::ostream& out, Point const& p)
 	return out;
 }
 
-Line::Line(Point const& fp, Point const& lp): first(fp), last(lp),
-		intersection1(Point(0.0, 0.0)), intersection2(Point(0.0, 0.0))
+Line::Line(Point const& b, Point const& e): b_(b), e_(e)
 {
 }
 
 Point
-Line::fp() const&
+Line::b() const&
 {
-	return this->first;
+	return this->b_;
 }
 
 Point
-Line::lp() const&
+Line::e() const&
 {
-	return this->last;
+	return this->e_;
 }
 
 Point
-Line::in1() const&
+Line::i1() const&
 {
-	return this->intersection1;
+	return this->i1_;
 }
 
 Point
-Line::in2() const&
+Line::i2() const&
 {
-	return this->intersection2;
+	return this->i2_;
 }
 
 bool
 Line::intersects_with(Line const& li)
 {
-	auto x1 = this->fp().x();
-	auto y1 = this->fp().y();
-	auto x2 = this->lp().x();
-	auto y2 = this->lp().y();
-	auto x3 = li.fp().x();
-	auto y3 = li.fp().y();
-	auto x4 = li.lp().x();
-	auto y4 = li.lp().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();
+	auto y4 = li.e().y();
 	double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
 	if (deno == 0.0) {
 		return false;
@@ -173,18 +172,18 @@ Line::intersects_with(Line const& li)
 	if (t < 0.0 || t > 1.0 || u < 0.0 || u > 1.0) {
 		return false;
 	}
-	this->intersection1.x(x1 + t * (x2 - x1));
-	this->intersection1.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->fp().x();
-	auto y1 = this->fp().y();
-	auto x2 = this->lp().x();
-	auto y2 = this->lp().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;
@@ -210,32 +209,26 @@ Line::intersects_with(Point const& c, double const r)
 	iy1 += cy;
 	double iy2 = (-D*dx - std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
 	iy2 += cy;
-	this->intersection1.x(ix1);
-	this->intersection1.y(iy1);
-	this->intersection2.x(ix2);
-	this->intersection2.y(iy2);
+	this->i1_.x(ix1);
+	this->i1_.y(iy1);
+	this->i2_.x(ix2);
+	this->i2_.y(iy2);
 	return true;
 }
 
 double
 Line::len() const
 {
-	double dx = this->lp().x() - this->fp().x();
-	double dy = this->lp().y() - this->fp().y();
-	return sqrt(dx * dx + dy * dy);
+	return this->b_.edist(this->e_);
 }
 
 std::ostream&
 operator<<(std::ostream& out, Line const& li)
 {
-	out << "[" << li.first << "," << li.last << "]";
+	out << "[" << li.b_ << "," << li.e_ << "]";
 	return out;
 }
 
-Pose::Pose() : Point()
-{
-}
-
 Pose::Pose(double x, double y, double h) : Point(x, y), h_(h)
 {
 }
@@ -328,61 +321,61 @@ operator<<(std::ostream& out, PoseRange const& p)
 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
@@ -436,25 +429,25 @@ CarSize::perfect_parking_slot_len() const
 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