Inherit as public virtual due to diamond

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

diff --git a/incl/bcar.hh b/incl/bcar.hh
index bfb9cda0acfc518377f884cf7ca5d1d71324ff06..64610552aa61c6ba6f1ed42cceecc75869df9598 100644 (file)
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -11,6 +11,8 @@ template <typename T> int sgn(T val) {
        return (T(0) < val) - (val < T(0));
 }
 
+class Line;
+
 class Point {
 private:
        double x_ = 0.0;
@@ -46,6 +48,24 @@ public:
         * \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);
+
+       friend std::ostream& operator<<(std::ostream& out, Point const& p);
 };
 
 class Line {
@@ -92,34 +112,16 @@ public:
         */
        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;
 };
 
 /*! 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;
@@ -127,16 +129,36 @@ public:
        /*! 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 virtual Pose {
+private:
+       double e_ = 0.0;
+       using Pose::h;
+public:
+       /*! Get heading's begin in the interval [-pi, +pi] radians. */
+       double b() const;
+
+       /*! Set heading's begin in radians. It's recomputed to [-pi, +pi]. */
+       void b(double b);
+
+       /*! Get heading's end in the interval [-pi, +pi] radians. */
+       double e() const;
+
+       /*! Set heading's end in radians. It's recomputed to [-pi, +pi]. */
+       void e(double e);
+
+       void rotate(Point const& c, double const angl);
+
+       friend std::ostream& operator<<(std::ostream& out, PoseRange const& p);
+};
+
 /*! \brief Store car size.
  *
  * - Default is https://en.wikipedia.org/wiki/Fiat_Punto
@@ -194,45 +216,6 @@ public:
         * radius.
         */
        double mtr() const;
-};
-
-/*! Store car motion. */
-class CarMove {
-private:
-       double speed = 0.0;
-       double steer = 0.0;
-public:
-       /*! Get speed. */
-       double sp() const;
-
-       /*! Set speed. */
-       void sp(double sp);
-
-       /*! Get steer. */
-       double st() const;
-
-       /*! Set steer. */
-       void st(double st);
-};
-
-/*! \brief Geometrical computations of a bicycle car.
- *
- * - `x()` and `y()` methods returns coordinates of rear axle center.
- */
-class BicycleCar : public Pose, public CarSize, public 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.
-        */
-       bool drivable(BicycleCar const& bc, double b, double e) const;
-       bool drivable(BicycleCar const& bc) const;
 
        /*! \brief Return inner radius.
         *
@@ -266,6 +249,44 @@ public:
         * \see https://www.ma.rhul.ac.uk/SRBparking
         */
        double perfect_parking_slot_len() const;
+};
+
+/*! Store car motion. */
+class CarMove {
+private:
+       double speed = 0.0;
+       double steer = 0.0;
+public:
+       /*! Get speed. */
+       double sp() const;
+
+       /*! Set speed. */
+       void sp(double sp);
+
+       /*! Get steer. */
+       double st() const;
+
+       /*! Set steer. */
+       void st(double st);
+};
+
+/*! \brief Geometrical computations of a bicycle car.
+ *
+ * - `x()` and `y()` methods returns coordinates of rear axle center.
+ */
+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 p `PoseRange` (resp. `Pose`) to achieve.
+        */
+       bool drivable(PoseRange const& p) const;
+       bool drivable(Pose const& p) const;
 
        /*! Set maximum steering angle. */
        void set_max_steer();