From cab1a7df173a08e7ec5371e4724b0032cd31588a Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 14 Jul 2021 23:22:08 +0200
Subject: [PATCH] Move on right side of method to point

---
 incl/bcar.hh | 20 +++++++++++---------
 src/bcar.cc  | 32 ++++++++++++++++----------------
 ut/bcar.t.cc | 14 +++++++-------
 3 files changed, 34 insertions(+), 32 deletions(-)

diff --git a/incl/bcar.hh b/incl/bcar.hh
index faa8470..0615f53 100644
--- 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 +48,15 @@ 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;
 };
 
 class Line {
@@ -92,15 +103,6 @@ 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;
 };
 
diff --git a/src/bcar.cc b/src/bcar.cc
index 96a2c8c..4922132 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -79,6 +79,22 @@ Point::inside_of(std::vector<Point> const& poly) const
 	return c;
 }
 
+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 x3 = this->x_;
+	auto y3 = this->y_;
+	if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
+		return false;
+	} else {
+		return true;
+	}
+}
+
 Line::Line(Point const& fp, Point const& lp): first(fp), last(lp),
 		intersection1(Point(0.0, 0.0)), intersection2(Point(0.0, 0.0))
 {
@@ -175,22 +191,6 @@ Line::intersects_with(Point const& c, double const r)
 	return true;
 }
 
-bool
-Line::is_on_right_side(Point const& p) const
-{
-	auto x1 = this->fp().x();
-	auto y1 = this->fp().y();
-	auto x2 = this->lp().x();
-	auto y2 = this->lp().y();
-	auto x3 = p.x();
-	auto y3 = p.y();
-	if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
-		return false;
-	} else {
-		return true;
-	}
-}
-
 double
 Line::len() const
 {
diff --git a/ut/bcar.t.cc b/ut/bcar.t.cc
index 95920e2..bdd4354 100644
--- a/ut/bcar.t.cc
+++ b/ut/bcar.t.cc
@@ -149,13 +149,13 @@ WVTEST_MAIN("auxiliary angle between three points")
 	auto omo = Point(1.0, -1.0);
 	auto tmo = Point(2.0, -1.0);
 	auto mto = Point(-2.0, 1.0);
-	WVPASS(Line(momo, oo).is_on_right_side(to));
-	WVPASS(!Line(momo, oo).is_on_right_side(ot));
-	WVPASS(!Line(moo, omo).is_on_right_side(to));
-	WVPASS(!Line(moo, omo).is_on_right_side(ot));
-	WVPASS(!Line(moo, omo).is_on_right_side(tmo));
-	WVPASS(!Line(moo, omo).is_on_right_side(mot));
-	WVPASS(Line(moo, omo).is_on_right_side(mto));
+	WVPASS(to.on_right_side_of(Line(momo, oo)));
+	WVPASS(!ot.on_right_side_of(Line(momo, oo)));
+	WVPASS(!to.on_right_side_of(Line(moo, omo)));
+	WVPASS(!ot.on_right_side_of(Line(moo, omo)));
+	WVPASS(!tmo.on_right_side_of(Line(moo, omo)));
+	WVPASS(!mot.on_right_side_of(Line(moo, omo)));
+	WVPASS(mto.on_right_side_of(Line(moo, omo)));
 }
 
 WVTEST_MAIN("drivable")
-- 
2.39.2