Add edist to rr, lf method

[hubacji1/bcar.git] / incl / bcar.hh

diff --git a/incl/bcar.hh b/incl/bcar.hh
index c2265a59c566c9ac56332b70bae0dc167e1eace7..658db31042b6bbc3ae116cd92ce36421f3315ea2 100644 (file)
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -55,6 +55,12 @@ public:
         */
        bool inside_of(std::vector<Point> const& poly) const;
 
+       /*! \brief Return `true` if `this` point is inside the circle `c`, `r`.
+        *
+        * \see * https://math.stackexchange.com/questions/198764/how-to-know-if-a-point-is-inside-a-circle#198769
+        */
+       bool inside_of(Point const& c, double const r) const;
+
        /*! \brief Return `true` if on the right side of the plane.
         *
         * The plane is given by the line `li`, where `li->b()` is the base
@@ -259,6 +265,12 @@ public:
        /*! Get front track. */
        double ft() const;
 
+       /*! Return rear axle center to right rear corner Euclidean distance. */
+       double edist_to_rr() const;
+
+       /*! Return rear axle center to left front corner Euclidean distance. */
+       double edist_to_lf() const;
+
        /*! \brief Get minimum turning radius.
         *
         * Please, note that the method returns really _minimum turning radius_,
@@ -491,6 +503,8 @@ public:
                bool RFM_POINT = false;
                bool CRA_POINT = false;
                bool CAR_POINT = false;
+               bool LRA_POINT = false;
+               bool RRA_POINT = false;
 
                bool LEFT = false;
                bool RIGHT = false;