Add class Vector3D

LibCarla/source/carla/geom/Location.h

@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "carla/MsgPack.h"
+#include "carla/geom/Vector3D.h"
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 #  include "Math/Vector.h"
@@ -15,24 +15,21 @@
 namespace carla {
 namespace geom {
 
-  class Location {
+  class Location : private Vector3D {
   public:
 
-    float x = 0.0f;
-    float y = 0.0f;
-    float z = 0.0f;
+    using Vector3D::Vector3D;
 
-    Location() = default;
+    using Vector3D::x;
+    using Vector3D::y;
+    using Vector3D::z;
 
-    Location(float ix, float iy, float iz)
-      : x(ix),
-        y(iy),
-        z(iz) {}
+    using Vector3D::msgpack_pack;
+    using Vector3D::msgpack_unpack;
+    using Vector3D::msgpack_object;
 
     Location &operator+=(const Location &rhs) {
-      x += rhs.x;
-      y += rhs.y;
-      z += rhs.z;
+      static_cast<Vector3D &>(*this) += rhs;
       return *this;
     }
 
@@ -42,9 +39,7 @@ namespace geom {
     }
 
     Location &operator-=(const Location &rhs) {
-      x -= rhs.x;
-      y -= rhs.y;
-      z -= rhs.z;
+      static_cast<Vector3D &>(*this) -= rhs;
       return *this;
     }
 
@@ -63,28 +58,6 @@ namespace geom {
     }
 
 #endif // LIBCARLA_INCLUDED_FROM_UE4
-
-    // =========================================================================
-    /// @todo The following is copy-pasted from MSGPACK_DEFINE_ARRAY.
-    /// This is a workaround for an issue in msgpack library. The
-    /// MSGPACK_DEFINE_ARRAY macro is shadowing our `z` variable.
-    /// https://github.com/msgpack/msgpack-c/issues/709
-    // =========================================================================
-    template <typename Packer>
-    void msgpack_pack(Packer& pk) const
-    {
-        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_pack(pk);
-    }
-    void msgpack_unpack(clmdep_msgpack::object const& o)
-    {
-        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_unpack(o);
-    }
-    template <typename MSGPACK_OBJECT>
-    void msgpack_object(MSGPACK_OBJECT* o, clmdep_msgpack::zone& sneaky_variable_that_shadows_z) const
-    {
-        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_object(o, sneaky_variable_that_shadows_z);
-    }
-    // =========================================================================
   };
 
 } // namespace geom

LibCarla/source/carla/geom/Vector3D.h

@@ -0,0 +1,76 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+
+namespace carla {
+namespace geom {
+
+  class Vector3D {
+  public:
+
+    float x = 0.0f;
+    float y = 0.0f;
+    float z = 0.0f;
+
+    Vector3D() = default;
+
+    Vector3D(float ix, float iy, float iz)
+      : x(ix),
+        y(iy),
+        z(iz) {}
+
+    Vector3D &operator+=(const Vector3D &rhs) {
+      x += rhs.x;
+      y += rhs.y;
+      z += rhs.z;
+      return *this;
+    }
+
+    friend Vector3D operator+(Vector3D lhs, const Vector3D &rhs) {
+      lhs += rhs;
+      return lhs;
+    }
+
+    Vector3D &operator-=(const Vector3D &rhs) {
+      x -= rhs.x;
+      y -= rhs.y;
+      z -= rhs.z;
+      return *this;
+    }
+
+    friend Vector3D operator-(Vector3D lhs, const Vector3D &rhs) {
+      lhs -= rhs;
+      return lhs;
+    }
+
+    // =========================================================================
+    /// @todo The following is copy-pasted from MSGPACK_DEFINE_ARRAY.
+    /// This is a workaround for an issue in msgpack library. The
+    /// MSGPACK_DEFINE_ARRAY macro is shadowing our `z` variable.
+    /// https://github.com/msgpack/msgpack-c/issues/709
+    // =========================================================================
+    template <typename Packer>
+    void msgpack_pack(Packer& pk) const
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_pack(pk);
+    }
+    void msgpack_unpack(clmdep_msgpack::object const& o)
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_unpack(o);
+    }
+    template <typename MSGPACK_OBJECT>
+    void msgpack_object(MSGPACK_OBJECT* o, clmdep_msgpack::zone& sneaky_variable_that_shadows_z) const
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_object(o, sneaky_variable_that_shadows_z);
+    }
+    // =========================================================================
+  };
+
+} // namespace geom
+} // namespace carla

PythonAPI/source/libcarla/Transform.cpp

@@ -11,6 +11,13 @@
 namespace carla {
 namespace geom {
 
+  std::ostream &operator<<(std::ostream &out, const Vector3D &vector3D) {
+    out << "Vector3D(x=" << vector3D.x
+        << ", y=" << vector3D.y
+        << ", z=" << vector3D.z << ')';
+    return out;
+  }
+
   std::ostream &operator<<(std::ostream &out, const Location &location) {
     out << "Location(x=" << location.x
         << ", y=" << location.y
@@ -37,11 +44,23 @@ void export_transform() {
   using namespace boost::python;
   namespace cg = carla::geom;
 
+  class_<cg::Vector3D>("Vector3D")
+    .def(init<float, float, float>((arg("x")=0.0f, arg("y")=0.0f, arg("z")=0.0f)))
+    .def_readwrite("x", &cg::Vector3D::x)
+    .def_readwrite("y", &cg::Vector3D::y)
+    .def_readwrite("z", &cg::Vector3D::z)
+    .def(self += self)
+    .def(self + self)
+    .def(self -= self)
+    .def(self - self)
+    .def(self_ns::str(self_ns::self))
+  ;
+
   class_<cg::Location>("Location")
     .def(init<float, float, float>((arg("x")=0.0f, arg("y")=0.0f, arg("z")=0.0f)))
-    .def_readwrite("x", &cg::Location::x)
-    .def_readwrite("y", &cg::Location::y)
-    .def_readwrite("z", &cg::Location::z)
+    .add_property("x", +[](const cg::Location &self) { return self.x; }, +[](cg::Location &self, float x) { self.x = x; })
+    .add_property("y", +[](const cg::Location &self) { return self.y; }, +[](cg::Location &self, float y) { self.y = y; })
+    .add_property("z", +[](const cg::Location &self) { return self.z; }, +[](cg::Location &self, float z) { self.z = z; })
     .def(self += self)
     .def(self + self)
     .def(self -= self)