#include <cmath>
#include "bcar.hh"
-using namespace bcar;
+namespace bcar {
-Point::Point(double x, double y) : x_(x), y_(y)
+Point::Point()
{
}
-Point::Point() : Point::Point(0.0, 0.0)
+Point::Point(double x, double y) : x_(x), y_(y)
{
}
bool
Point::on_right_side_of(Line const& li) const
{
- auto x1 = li.fp().x();
- auto y1 = li.fp().y();
- auto x2 = li.lp().x();
- auto y2 = li.lp().y();
+ auto x1 = li.b().x();
+ auto y1 = li.b().y();
+ auto x2 = li.e().x();
+ auto y2 = li.e().y();
auto x3 = this->x_;
auto y3 = this->y_;
if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
}
}
-Line::Line(Point const& fp, Point const& lp): first(fp), last(lp),
- intersection1(Point(0.0, 0.0)), intersection2(Point(0.0, 0.0))
+void
+Point::rotate(Point const& c, double const angl)
+{
+ double px = this->x();
+ double py = this->y();
+ px -= c.x();
+ py -= c.y();
+ double nx = px * cos(angl) - py * sin(angl);
+ double ny = px * sin(angl) + py * cos(angl);
+ this->x(nx + c.x());
+ this->y(ny + c.y());
+}
+
+void
+Point::reflect(Line const& li)
+{
+ this->rotate(li.b(), -li.h());
+ this->y_ -= li.b().y();
+ this->y_ *= -1.0;
+ this->y_ += li.b().y();
+ this->rotate(li.b(), li.h());
+}
+
+double
+Point::edist(Point const& p) const
+{
+ return sqrt(pow(p.x() - this->x_, 2.0) + pow(p.y() - this->y_, 2.0));
+}
+
+bool
+Point::operator==(Point const& p)
+{
+ return this->x() == p.x() && this->y() == p.y();
+}
+
+std::ostream&
+operator<<(std::ostream& out, Point const& p)
+{
+ out << "[" << p.x() << "," << p.y() << "]";
+ return out;
+}
+
+Line::Line(Point const& b, Point const& e): b_(b), e_(e)
{
}
Point
-Line::fp() const&
+Line::b() const&
{
- return this->first;
+ return this->b_;
}
Point
-Line::lp() const&
+Line::e() const&
{
- return this->last;
+ return this->e_;
}
Point
-Line::in1() const&
+Line::i1() const&
{
- return this->intersection1;
+ return this->i1_;
}
Point
-Line::in2() const&
+Line::i2() const&
{
- return this->intersection2;
+ return this->i2_;
}
bool
Line::intersects_with(Line const& li)
{
- auto x1 = this->fp().x();
- auto y1 = this->fp().y();
- auto x2 = this->lp().x();
- auto y2 = this->lp().y();
- auto x3 = li.fp().x();
- auto y3 = li.fp().y();
- auto x4 = li.lp().x();
- auto y4 = li.lp().y();
+ auto x1 = this->b_.x();
+ auto y1 = this->b_.y();
+ auto x2 = this->e_.x();
+ auto y2 = this->e_.y();
+ auto x3 = li.b().x();
+ auto y3 = li.b().y();
+ auto x4 = li.e().x();
+ auto y4 = li.e().y();
double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
if (deno == 0.0) {
return false;
u *= -1.0;
u /= deno;
if (t < 0.0 || t > 1.0 || u < 0.0 || u > 1.0) {
- false;
+ return false;
}
- this->intersection1.x(x1 + t * (x2 - x1));
- this->intersection1.y(y1 + t * (y2 - y1));
+ this->i1_.x(x1 + t * (x2 - x1));
+ this->i1_.y(y1 + t * (y2 - y1));
return true;
}
bool
Line::intersects_with(Point const& c, double const r)
{
- auto x1 = this->fp().x();
- auto y1 = this->fp().y();
- auto x2 = this->lp().x();
- auto y2 = this->lp().y();
+ auto x1 = this->b_.x();
+ auto y1 = this->b_.y();
+ auto x2 = this->e_.x();
+ auto y2 = this->e_.y();
auto cx = c.x();
auto cy = c.y();
x2 -= cx;
iy1 += cy;
double iy2 = (-D*dx - std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
iy2 += cy;
- this->intersection1.x(ix1);
- this->intersection1.y(iy1);
- this->intersection2.x(ix2);
- this->intersection2.y(iy2);
+ this->i1_.x(ix1);
+ this->i1_.y(iy1);
+ this->i2_.x(ix2);
+ this->i2_.y(iy2);
return true;
}
double
Line::len() const
{
- double dx = this->lp().x() - this->fp().x();
- double dy = this->lp().y() - this->fp().y();
- return sqrt(dx * dx + dy * dy);
+ return this->b_.edist(this->e_);
}
-Pose::Pose() : Point()
+double
+Line::h() const
+{
+ return atan2(this->e_.y() - this->b_.y(), this->e_.x() - this->b_.x());
+}
+
+std::ostream&
+operator<<(std::ostream& out, Line const& li)
{
+ out << "[" << li.b_ << "," << li.e_ << "]";
+ return out;
}
Pose::Pose(double x, double y, double h) : Point(x, y), h_(h)
void
Pose::rotate(Point const& c, double const angl)
{
- double px = this->x();
- double py = this->y();
- px -= c.x();
- py -= c.y();
- double nx = px * cos(angl) - py * sin(angl);
- double ny = px * sin(angl) + py * cos(angl);
+ Point::rotate(c, angl);
this->h(this->h() + angl);
- this->x(nx + c.x());
- this->y(ny + c.y());
+}
+
+void
+Pose::reflect(Line const& li)
+{
+ Point::reflect(li);
+ double dh = li.h() - this->h();
+ this->h(this->h() + 2.0 * dh);
+}
+
+bool
+Pose::operator==(Pose const& p)
+{
+ return this->x() == p.x() && this->y() == p.y() && this->h() == p.h();
}
std::ostream&
this->e(this->e() + angl);
}
+void
+PoseRange::reflect(Line const& li)
+{
+ Pose::reflect(li);
+ double dh = li.h() - this->e();
+ this->e(this->e() + 2.0 * dh);
+}
+
std::ostream&
operator<<(std::ostream& out, PoseRange const& p)
{
double
CarSize::ctc() const
{
- return this->curb_to_curb;
+ return this->curb_to_curb_;
}
void
CarSize::ctc(double ctc)
{
- this->curb_to_curb = ctc;
+ this->curb_to_curb_ = ctc;
}
double
CarSize::wb() const
{
- return this->wheelbase;
+ return this->wheelbase_;
}
void
CarSize::wb(double wb)
{
- this->wheelbase = wb;
+ this->wheelbase_ = wb;
}
double
CarSize::w() const
{
- return this->width;
+ return this->width_;
}
void
CarSize::w(double w)
{
- this->width = w;
+ this->width_ = w;
}
double
CarSize::len() const
{
- return this->length;
+ return this->length_;
}
void
CarSize::len(double len)
{
- this->length = len;
+ this->length_ = len;
}
double
CarSize::df() const
{
- return this->distance_to_front;
+ return this->distance_to_front_;
}
void
CarSize::df(double df)
{
- this->distance_to_front = df;
+ this->distance_to_front_ = df;
}
double
double
CarMove::sp() const
{
- return this->speed;
+ return this->speed_;
}
void
CarMove::sp(double sp)
{
- this->speed = sp;
+ this->speed_ = sp;
}
double
CarMove::st() const
{
- return this->steer;
+ return this->steer_;
}
void
CarMove::st(double st)
{
- this->steer = st;
+ this->steer_ = st;
}
bool
return rfy;
}
+Point
+BicycleCar::lf() const
+{
+ return Point(this->lfx(), this->lfy());
+}
+
+Point
+BicycleCar::lr() const
+{
+ return Point(this->lrx(), this->lry());
+}
+
+Point
+BicycleCar::rr() const
+{
+ return Point(this->rrx(), this->rry());
+}
+
+Point
+BicycleCar::rf() const
+{
+ return Point(this->rfx(), this->rfy());
+}
+
+Line
+BicycleCar::left() const
+{
+ return Line(this->lr(), this->lf());
+}
+
+Line
+BicycleCar::rear() const
+{
+ return Line(this->lr(), this->rr());
+}
+
+Line
+BicycleCar::right() const
+{
+ return Line(this->rr(), this->rf());
+}
+
+Line
+BicycleCar::front() const
+{
+ return Line(this->rf(), this->lf());
+}
+
double
BicycleCar::ralx() const
{
this->y(this->y() + this->sp() * sin(this->h()));
this->h(this->h() + this->sp() / this->wb() * tan(this->st()));
}
+
+} // namespace bcar
projects / hubacji1 / bcar.git / blobdiff