return (T(0) < val) - (val < T(0));
}
+class Line;
+
class Point {
private:
double x_ = 0.0;
* \param poly Polygon to consider.
*/
bool inside_of(std::vector<Point> const& poly) const;
+
+ /*! \brief Return `true` if on the right side of the plane.
+ *
+ * The plane is given by the line `li`, where `li->fp()` is the base
+ * point and the direction is given by `li->lp() - li->fp()`.
+ *
+ * \param li The plane to consider is given by `li`.
+ */
+ bool on_right_side_of(Line const& li) const;
+
+ /*! \brief Rotate self around the point.
+
+ \param c Rotation center `Point`.
+ \param angl Angle of rotation.
+ */
+ void rotate(Point const& c, double const angl);
+
+ /*! Return Euclidean distance to `p`. */
+ double edist(Point const& p) const;
+
+ friend std::ostream& operator<<(std::ostream& out, Point const& p);
};
class Line {
*/
bool intersects_with(Point const& c, double const r);
- /*! \brief Return if point `p` is on the right side of the plane.
- *
- * The plane is given by the line `this`, where `this->fp()` is the base
- * point and the direction is given by `this->lp() - this->fp()`.
- *
- * \param p The point to consider.
- */
- bool is_on_right_side(Point const& p) const;
+ double len() const;
+
+ friend std::ostream& operator<<(std::ostream& out, Line const& li);
};
/*! Store coordinates `x`, `y`, and heading `h`. */
-class Pose {
+class Pose : public virtual Point {
private:
- double x_ = 0.0;
- double y_ = 0.0;
double h_ = 0.0;
public:
- /*! Get horizontal coordinate. */
- double x() const;
-
- /*! Set horizontal coordinate. */
- void x(double x);
-
- /*! Get vertical coordinate. */
- double y() const;
-
- /*! Set vertical coordinate. */
- void y(double y);
+ Pose(double x, double y, double h);
+ Pose();
/*! Get heading in the interval [-pi, +pi] radians. */
double h() const;
/*! Set heading in radians. It's recomputed to [-pi, +pi]. */
void h(double h);
- /*! \brief Rotate self around the point.
+ /*! Set pose (`x`, `y`, and `h`.) */
+ void set_pose(Pose const& p);
- \param c Rotation center `Point`.
- \param angl Angle of rotation.
- */
void rotate(Point const& c, double const angl);
friend std::ostream& operator<<(std::ostream& out, Pose const& p);
};
-class PoseRange : public Pose {
+class PoseRange : public virtual Pose {
private:
double e_ = 0.0;
using Pose::h;
* radius.
*/
double mtr() const;
+
+ /*! \brief Return inner radius.
+ *
+ * The inner radius is the distance from minimum turning radius circle
+ * center to the nearest point on the car. In this case, the nearest
+ * points on the car are rear axle endpoints.
+ */
+ double iradi() const;
+
+ /*! \brief Return outer front radius.
+ *
+ * The outer front radius is the distance from minimum turning radius
+ * circle center to the farthest point on the front (from the rear axle
+ * view) part of the car.
+ */
+ double ofradi() const;
+
+ /*! \brief Return outer rear radius.
+ *
+ * The outer rear radius is the distance from minimum turning radius
+ * circle center to the farthest point on the rear (from the rear axle
+ * view) part of the car.
+ */
+ double orradi() const;
+
+ /*! \brief Return length of perfect parking slot.
+ *
+ * The width of the slot is the same as the width of the car.
+ *
+ * \see Simon R. Blackburn *The Geometry of Perfect Parking*
+ * \see https://www.ma.rhul.ac.uk/SRBparking
+ */
+ double perfect_parking_slot_len() const;
};
/*! Store car motion. */
*
* - `x()` and `y()` methods returns coordinates of rear axle center.
*/
-class BicycleCar : public Pose, public CarSize, public CarMove {
+class BicycleCar : public virtual Pose, public virtual CarSize,
+ public virtual CarMove {
private:
public:
/*! \brief Return `false` if `bc` is not achievable.
* When `false` is returned the `bc` may still be drivable, but not
* trivially, i.e. by "line segment - circle arc - line segment".
*
- * \param bc The bicycle car to achieve.
- * \param b The beginning of the heading range.
- * \param e The end of the heading range.
+ * \param p `PoseRange` (resp. `Pose`) to achieve.
*/
- bool drivable(Pose const& p, double b, double e) const;
+ bool drivable(PoseRange const& p) const;
bool drivable(Pose const& p) const;
- /*! \brief Return inner radius.
- *
- * The inner radius is the distance from minimum turning radius circle
- * center to the nearest point on the car. In this case, the nearest
- * points on the car are rear axle endpoints.
- */
- double iradi() const;
-
- /*! \brief Return outer front radius.
- *
- * The outer front radius is the distance from minimum turning radius
- * circle center to the farthest point on the front (from the rear axle
- * view) part of the car.
- */
- double ofradi() const;
-
- /*! \brief Return outer rear radius.
- *
- * The outer rear radius is the distance from minimum turning radius
- * circle center to the farthest point on the rear (from the rear axle
- * view) part of the car.
- */
- double orradi() const;
-
- /*! \brief Return length of perfect parking slot.
- *
- * The width of the slot is the same as the width of the car.
- *
- * \see Simon R. Blackburn *The Geometry of Perfect Parking*
- * \see https://www.ma.rhul.ac.uk/SRBparking
- */
- double perfect_parking_slot_len() const;
-
/*! Set maximum steering angle. */
void set_max_steer();
/*! Get frame's right front y coordinate. */
double rfy() const;
+ /*! Get frame's left front point. */
+ Point lf() const;
+
+ /*! Get frame's left rear point. */
+ Point lr() const;
+
+ /*! Get frame's right rear point. */
+ Point rr() const;
+
+ /*! Get frame's right front point. */
+ Point rf() const;
+
+ /*! Get frame's left side. */
+ Line left() const;
+
+ /*! Get frame's rear side. */
+ Line rear() const;
+
+ /*! Get frame's right side. */
+ Line right() const;
+
+ /*! Get frame's front side. */
+ Line front() const;
+
/*! Get rear axle's left x coordinate. */
double ralx() const;
projects / hubacji1 / bcar.git / blobdiff