From 723373ed4fd8e39bca855a6322fa871faa6a44f0 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Tue, 13 Jul 2021 16:30:06 +0200
Subject: [PATCH] Move methods from bicycle car to car size

---
 incl/bcar.hh | 66 +++++++++++++++++++++++++-------------------------
 src/bcar.cc  | 68 ++++++++++++++++++++++++++--------------------------
 2 files changed, 67 insertions(+), 67 deletions(-)

diff --git a/incl/bcar.hh b/incl/bcar.hh
index e35f964..9f7a369 100644
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -216,6 +216,39 @@ public:
 	 * 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. */
@@ -254,39 +287,6 @@ public:
 	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();
 
diff --git a/src/bcar.cc b/src/bcar.cc
index 6b264c9..ef7300e 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -373,6 +373,40 @@ CarSize::mtr() const
 	return sqrt(ctc2 - wb2) - this->w() / 2.0;
 }
 
+double
+CarSize::iradi() const
+{
+	return this->mtr() - this->w() / 2;
+}
+
+double
+CarSize::ofradi() const
+{
+	auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
+	auto df2 = pow(this->df(), 2.0);
+	return sqrt(mtrw2 + df2);
+}
+
+double
+CarSize::orradi() const
+{
+	auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
+	auto dr2 = pow(this->dr(), 2.0);
+	return sqrt(mtrw2 + dr2);
+}
+
+double
+CarSize::perfect_parking_slot_len() const
+{
+	auto r = this->ctc() / 2.0;
+	auto l = this->wb();
+	auto k = this->df() - this->wb();
+	auto w = this->w();
+	auto r2l2 = r * r - l * l;
+	auto s = r2l2 + pow(l + k, 2.0) - pow(sqrt(r2l2) - w, 2.0);
+	return this->len() + sqrt(s) - l - k;
+}
+
 double
 CarMove::sp() const
 {
@@ -493,40 +527,6 @@ BicycleCar::drivable(PoseRange const& p) const
 	return false;
 }
 
-double
-BicycleCar::iradi() const
-{
-	return this->mtr() - this->w() / 2;
-}
-
-double
-BicycleCar::ofradi() const
-{
-	auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
-	auto df2 = pow(this->df(), 2.0);
-	return sqrt(mtrw2 + df2);
-}
-
-double
-BicycleCar::orradi() const
-{
-	auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
-	auto dr2 = pow(this->dr(), 2.0);
-	return sqrt(mtrw2 + dr2);
-}
-
-double
-BicycleCar::perfect_parking_slot_len() const
-{
-	auto r = this->ctc() / 2.0;
-	auto l = this->wb();
-	auto k = this->df() - this->wb();
-	auto w = this->w();
-	auto r2l2 = r * r - l * l;
-	auto s = r2l2 + pow(l + k, 2.0) - pow(sqrt(r2l2) - w, 2.0);
-	return this->len() + sqrt(s) - l - k;
-}
-
 void
 BicycleCar::set_max_steer()
 {
-- 
2.39.2