Add car frame point and side getters

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

diff --git a/incl/bcar.hh b/incl/bcar.hh
index 1e0b61bf2c1de59076729a28dac3324a26f7eaf2..ad33a7ddaf4410546fc288390f49b852e04def13 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 +48,27 @@ 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);
+
+       /*! Return Euclidean distance to `p`. */
+       double edist(Point const& p) const;
+
+       friend std::ostream& operator<<(std::ostream& out, Point const& p);
 };
 
 class Line {
@@ -92,18 +115,13 @@ 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;
+
+       friend std::ostream& operator<<(std::ostream& out, Line const& li);
 };
 
 /*! Store coordinates `x`, `y`, and heading `h`. */
-class Pose : public Point {
+class Pose : public virtual Point {
 private:
        double h_ = 0.0;
 public:
@@ -119,17 +137,12 @@ public:
        /*! Set pose (`x`, `y`, and `h`.) */
        void set_pose(Pose const& p);
 
-       /*! \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, Pose const& p);
 };
 
-class PoseRange : public Pose {
+class PoseRange : public virtual Pose {
 private:
        double e_ = 0.0;
        using Pose::h;
@@ -266,7 +279,8 @@ public:
  *
  * - `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.
@@ -306,6 +320,30 @@ public:
        /*! 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;