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 */