api/pslot.h

   1 #ifndef PSLOT_H
   2 #define PSLOT_H
   3
   4 #include <ostream>
   5
   6 /*! \brief Parking slot basic class.
   7
   8 This class contains some geometrical computations of parking slot. Parking slot
   9 consists of 4 cartesian coordinates `border` representing the border of the
  10 parking slot.
  11
  12 \param border Array of 4 `x`, `y` values - the borderd of the parking slot.
  13 */
  14 class ParkingSlot {
  15         private:
  16                 double border_[4][2] = {
  17                         {0, 0},
  18                         {1, 0},
  19                         {1, 2},
  20                         {0, 2}
  21                 };
  22         public:
  23                 /*! \brief Reverse order of border coordinates.
  24                 */
  25                 void reverse_border();
  26
  27                 // slot info
  28                 /*! \brief Return orientation of the parking slot.
  29
  30                 The orientation of the parking slot is computed as the
  31                 direction from the first to the last border coordinates.
  32                 */
  33                 double heading() const;
  34                 /*! \brief Return `true` if slot is parallel.
  35
  36                 There are two slot types - parallel and perpendicular.
  37                 */
  38                 bool parallel() const;
  39                 /*! \brief Return `true` if slot is on the right.
  40
  41                 The slot could be on right or the left side.
  42                 */
  43                 bool right() const;
  44
  45                 // getters, setters
  46                 double x1() const { return this->border_[0][0]; }
  47                 double y1() const { return this->border_[0][1]; }
  48                 double x2() const { return this->border_[1][0]; }
  49                 double y2() const { return this->border_[1][1]; }
  50                 double x3() const { return this->border_[2][0]; }
  51                 double y3() const { return this->border_[2][1]; }
  52                 double x4() const { return this->border_[3][0]; }
  53                 double y4() const { return this->border_[3][1]; }
  54                 /*! \brief Set parking slot border.
  55
  56                 \param x1 First `x` coordinate.
  57                 \param y1 First `y` coordinate.
  58                 \param x2 Second `x` coordinate.
  59                 \param y2 Second `y` coordinate.
  60                 \param x3 Third `x` coordinate.
  61                 \param y3 Third `y` coordinate.
  62                 \param x4 The last (fourth) `x` coordinate.
  63                 \param y4 The last (fourth) `y` coordinate.
  64                 */
  65                 void border(
  66                         double x1, double y1,
  67                         double x2, double y2,
  68                         double x3, double y3,
  69                         double x4, double y4
  70                 ) {
  71                         this->border_[0][0] = x1;
  72                         this->border_[0][1] = y1;
  73                         this->border_[1][0] = x2;
  74                         this->border_[1][1] = y2;
  75                         this->border_[2][0] = x3;
  76                         this->border_[2][1] = y3;
  77                         this->border_[3][0] = x4;
  78                         this->border_[3][1] = y4;
  79                 };
  80                 /*! \brief Set parking slot.
  81
  82                 \param x Horizontal coordinate of entry side center.
  83                 \param y Vertical coordinate of entry side center.
  84                 \param h The heading towards slot.
  85                 \param w The width of the slot.
  86                 \param l The length of the slot.
  87                 */
  88                 void set_slot(
  89                         double x,
  90                         double y,
  91                         double h,
  92                         double w,
  93                         double l
  94                 );
  95
  96                 ParkingSlot();
  97                 friend std::ostream &operator<<(
  98                         std::ostream &out,
  99                         const ParkingSlot &ps
 100                 )
 101                 {
 102                         out << "[[" << ps.x1() << "," << ps.y1() << "]";
 103                         out << ",[" << ps.x2() << "," << ps.y2() << "]";
 104                         out << ",[" << ps.x3() << "," << ps.y3() << "]";
 105                         out << ",[" << ps.x4() << "," << ps.y4() << "]";
 106                         out << "]";
 107                         return out;
 108                 }
 109 };
 110
 111 template <typename T> int sgn(T val) {
 112         return (T(0) < val) - (val < T(0));
 113 }
 114
 115 #endif /* PSLOT_H */