Add addition and subtraction operators to locations

LibCarla/source/carla/rpc/Location.h

@@ -0,0 +1,91 @@
+// 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/rpc/MsgPack.h"
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Math/Vector.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+namespace carla {
+namespace rpc {
+
+  class Location {
+  public:
+
+    float x = 0.0f;
+    float y = 0.0f;
+    float z = 0.0f;
+
+    Location() = default;
+
+    Location(float ix, float iy, float iz)
+      : x(ix),
+        y(iy),
+        z(iz) {}
+
+    Location &operator+=(const Location &rhs) {
+      x += rhs.x;
+      y += rhs.y;
+      z += rhs.z;
+      return *this;
+    }
+
+    friend Location operator+(Location lhs, const Location &rhs) {
+      lhs += rhs;
+      return lhs;
+    }
+
+    Location &operator-=(const Location &rhs) {
+      x -= rhs.x;
+      y -= rhs.y;
+      z -= rhs.z;
+      return *this;
+    }
+
+    friend Location operator-(Location lhs, const Location &rhs) {
+      lhs -= rhs;
+      return lhs;
+    }
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    Location(const FVector &vector) // from centimeters to meters.
+      : Location(1e-2f * vector.X, 1e-2f * vector.Y, 1e-2f * vector.Z) {}
+
+    operator FVector() const {
+      return FVector{1e2f * x, 1e2f * y, 1e2f * z}; // from meters to centimeters.
+    }
+
+#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 rpc
+} // namespace carla

LibCarla/source/carla/rpc/Transform.h

@@ -6,6 +6,7 @@
 
 #pragma once
 
+#include "carla/rpc/Location.h"
 #include "carla/rpc/MsgPack.h"
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
@@ -15,54 +16,6 @@
 namespace carla {
 namespace rpc {
 
-  class Location {
-  public:
-
-    Location() = default;
-
-    Location(float ix, float iy, float iz)
-      : x(ix),
-        y(iy),
-        z(iz) {}
-
-    float x = 0.0f;
-    float y = 0.0f;
-    float z = 0.0f;
-
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-
-    Location(const FVector &vector) // from centimeters to meters.
-      : Location(1e-2f * vector.X, 1e-2f * vector.Y, 1e-2f * vector.Z) {}
-
-    operator FVector() const {
-      return FVector{1e2f * x, 1e2f * y, 1e2f * z}; // from meters to centimeters.
-    }
-
-#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);
-    }
-    // =========================================================================
-  };
-
   class Rotation {
   public:
 

PythonAPI/source/libcarla/Transform.cpp

@@ -44,6 +44,10 @@ void export_transform() {
     .def_readwrite("x", &cc::Location::x)
     .def_readwrite("y", &cc::Location::y)
     .def_readwrite("z", &cc::Location::z)
+    .def(self += self)
+    .def(self + self)
+    .def(self -= self)
+    .def(self - self)
     .def(self_ns::str(self_ns::self))
   ;