From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 14 Jul 2021 23:12:47 +0000 (+0200)
Subject: Move rotate method to point
X-Git-Tag: v0.6.0~8
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/21870ef02d534dd5bed7e96016ef249a60438543

Move rotate method to point
---

diff --git a/incl/bcar.hh b/incl/bcar.hh
index 5a4e466..ee9c303 100644
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -58,6 +58,13 @@ public:
 	 */
 	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);
 };
 
@@ -125,11 +132,6 @@ 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);
diff --git a/src/bcar.cc b/src/bcar.cc
index 8aa2b94..230ccbe 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -95,6 +95,19 @@ Point::on_right_side_of(Line const& li) const
 	}
 }
 
+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());
+}
+
 std::ostream&
 operator<<(std::ostream& out, Point const& p)
 {
@@ -243,15 +256,8 @@ Pose::set_pose(Pose const& p)
 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());
 }
 
 std::ostream&