From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 19 Jan 2022 17:09:07 +0000 (+0100)
Subject: Add frame points getters, unify naming
X-Git-Tag: v0.9.0~5^2~2
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/7bd990cd8b3091a3c7305bfb75dd5690f24fc1d5

Add frame points getters, unify naming
---

diff --git a/incl/bcar.hh b/incl/bcar.hh
index 7302855..9e70986 100644
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -381,17 +381,50 @@ public:
 	/*! Get frame's front side. */
 	Line front() const;
 
-	/*! Get rear axle's left x coordinate. */
-	double ralx() const;
+	/*! Get frame's left rear axle x coordinate. */
+	double lrax() const;
 
-	/*! Get rear axle's left y coordinate. */
-	double raly() const;
+	/*! Get frame's left rear axle y coordinate. */
+	double lray() const;
 
-	/*! Get rear axle's right x coordinate. */
-	double rarx() const;
+	/*! Get frame's right rear axle x coordinate. */
+	double rrax() const;
 
-	/*! Get rear axle's right y coordinate. */
-	double rary() const;
+	/*! Get frame's right rear axle y coordinate. */
+	double rray() const;
+
+	/*! Get frame's left rear axle point. */
+	Point lra() const;
+
+	/*! Get frame's right rear axle point. */
+	Point rra() const;
+
+	/*! Get frame's left front axle x coordinate. */
+	double lfax() const;
+
+	/*! Get frame's left front axle y coordinate. */
+	double lfay() const;
+
+	/*! Get frame's right front axle x coordinate. */
+	double rfax() const;
+
+	/*! Get frame's right front axle y coordinate. */
+	double rfay() const;
+
+	/*! Get iframe's left front axle point. */
+	Point lfa() const;
+
+	/*! Get frame's right front axle point. */
+	Point rfa() const;
+
+	/*! Get frame's center front x coordinate. */
+	double cfx() const;
+
+	/*! Get frame's center front y coordinate. */
+	double cfy() const;
+
+	/*! Get frame's center front point. */
+	Point cf() const;
 
 	/*! Min. turning radius circle center on left. */
 	Point ccl() const;
diff --git a/src/bcar.cc b/src/bcar.cc
index b5446e0..d5b6b02 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -790,14 +790,14 @@ BicycleCar::front() const
 }
 
 double
-BicycleCar::ralx() const
+BicycleCar::lrax() const
 {
 	double lrx = this->x();
 	lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
 	return lrx;
 }
 double
-BicycleCar::raly() const
+BicycleCar::lray() const
 {
 	double lry = this->y();
 	lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
@@ -805,7 +805,7 @@ BicycleCar::raly() const
 }
 
 double
-BicycleCar::rarx() const
+BicycleCar::rrax() const
 {
 	double rrx = this->x();
 	rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
@@ -813,13 +813,79 @@ BicycleCar::rarx() const
 }
 
 double
-BicycleCar::rary() const
+BicycleCar::rray() const
 {
 	double rry = this->y();
 	rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
 	return rry;
 }
 
+Point
+BicycleCar::lra() const
+{
+	return Point(this->lrax(), this->lray());
+}
+
+Point
+BicycleCar::rra() const
+{
+	return Point(this->rrax(), this->rray());
+}
+
+double
+BicycleCar::lfax() const
+{
+	return this->lrax() + this->wb() * cos(this->h());
+}
+
+double
+BicycleCar::lfay() const
+{
+	return this->lray() + this->wb() * sin(this->h());
+}
+
+double
+BicycleCar::rfax() const
+{
+	return this->rrax() + this->wb() * cos(this->h());
+}
+
+double
+BicycleCar::rfay() const
+{
+	return this->rray() + this->wb() * sin(this->h());
+}
+
+Point
+BicycleCar::lfa() const
+{
+	return Point(this->lfax(), this->lfay());
+}
+
+Point
+BicycleCar::rfa() const
+{
+	return Point(this->rfax(), this->rfay());
+}
+
+double
+BicycleCar::cfx() const
+{
+	return this->x() + this->df() * cos(this->h());
+}
+
+double
+BicycleCar::cfy() const
+{
+	return this->y() + this->df() * sin(this->h());
+}
+
+Point
+BicycleCar::cf() const
+{
+	return Point(this->cfx(), this->cfy());
+}
+
 Point
 BicycleCar::ccl() const
 {
diff --git a/ut/bcar.t.cc b/ut/bcar.t.cc
index 73aaaef..1f3bc85 100644
--- a/ut/bcar.t.cc
+++ b/ut/bcar.t.cc
@@ -33,10 +33,10 @@ WVTEST_MAIN("bcar basic geometry")
 	WVPASSEQ_DOUBLE(0.5, bc.lry(), 0.00001);
 	WVPASSEQ_DOUBLE(0.5, bc.rry(), 0.00001);
 	WVPASSEQ_DOUBLE(3.5, bc.rfy(), 0.00001);
-	WVPASSEQ_DOUBLE(0.5, bc.ralx(), 0.00001);
-	WVPASSEQ_DOUBLE(1.5, bc.rarx(), 0.00001);
-	WVPASSEQ_DOUBLE(1.0, bc.raly(), 0.00001);
-	WVPASSEQ_DOUBLE(1.0, bc.rary(), 0.00001);
+	WVPASSEQ_DOUBLE(0.5, bc.lrax(), 0.00001);
+	WVPASSEQ_DOUBLE(1.5, bc.rrax(), 0.00001);
+	WVPASSEQ_DOUBLE(1.0, bc.lray(), 0.00001);
+	WVPASSEQ_DOUBLE(1.0, bc.rray(), 0.00001);
 
 	// min. turning radius circle centers
 	WVPASSEQ_DOUBLE(bc.h(), M_PI / 2.0, 0.00001);