214 lines
6.6 KiB
C++
214 lines
6.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUdouble WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_VECTOR2D_HH_
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#define _GAZEBO_VECTOR2D_HH_
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#include <ignition/math/Vector2.hh>
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#include <math.h>
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#include <iostream>
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#include <fstream>
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace math
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{
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/// \addtogroup gazebo_math
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/// \{
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/// \class Vector2d Vector2D.hh math/gzmath.hh
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/// \brief Generic double x, y vector
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class GZ_MATH_VISIBLE Vector2d
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{
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/// \brief Constructor
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public: Vector2d();
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/// \brief Constructor
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/// \param[in] _x value along x
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/// \param[in] _y value along y
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public: Vector2d(const double &_x, const double &_y);
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/// \brief Copy constructor
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/// \param[in] _v the value
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public: Vector2d(const Vector2d &_v);
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/// \brief Copy constructor for ignition math
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/// \param[in] _v the value
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public: Vector2d(const ignition::math::Vector2d &_v);
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/// \brief Destructor
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public: virtual ~Vector2d();
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/// \brief Calc distance to the given point
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/// \param[in] _pt The point to measure to
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/// \return the distance
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public: double Distance(const Vector2d &_pt) const;
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/// \brief Normalize the vector length
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public: void Normalize();
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/// \brief Set the contents of the vector
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/// \param[in] _x value along x
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/// \param[in] _y value along y
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public: void Set(double _x, double _y);
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/// \brief Return the dot product of this vector and _v
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/// \param[in] _v the vector
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/// \return the dot product
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public: double Dot(const Vector2d &_v) const;
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/// \brief Assignment operator
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/// \param[in] _v a value for x and y element
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/// \return this
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public: Vector2d &operator =(const Vector2d &_v);
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/// \brief Assignment operator for ignition math
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/// \param[in] _v a value for x and y element
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/// \return this
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public: Vector2d &operator=(const ignition::math::Vector2d &_v);
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/// \brief Assignment operator
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/// \param[in] _v the value for x and y element
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/// \return this
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public: const Vector2d &operator =(double _v);
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/// \brief Addition operator
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/// \param[in] _v vector to add
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/// \return sum vector
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public: Vector2d operator+(const Vector2d &_v) const;
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/// \brief Addition assignment operator
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/// \param[in] _v the vector to add
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// \return this
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public: const Vector2d &operator+=(const Vector2d &_v);
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/// \brief Subtraction operator
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/// \param[in] _v the vector to substract
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/// \return the subtracted vector
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public: Vector2d operator-(const Vector2d &_v) const;
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/// \brief Subtraction assignment operator
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/// \param[in] _v the vector to substract
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/// \return this
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public: const Vector2d &operator-=(const Vector2d &_v);
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/// \brief Division operator
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/// \remarks this is an element wise division
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/// \param[in] _v a vector
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/// \result a result
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public: const Vector2d operator/(const Vector2d &_v) const;
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/// \brief Division operator
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/// \remarks this is an element wise division
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/// \param[in] _v a vector
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/// \return this
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public: const Vector2d &operator/=(const Vector2d &_v);
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/// \brief Division operator
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/// \param[in] _v the value
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/// \return a vector
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public: const Vector2d operator/(double _v) const;
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/// \brief Division operator
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/// \param[in] _v the divisor
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/// \return a vector
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public: const Vector2d &operator/=(double _v);
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/// \brief Multiplication operators
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/// \param[in] _v the vector
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/// \return the result
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public: const Vector2d operator*(const Vector2d &_v) const;
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/// \brief Multiplication assignment operator
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/// \remarks this is an element wise multiplication
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/// \param[in] _v the vector
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/// \return this
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public: const Vector2d &operator*=(const Vector2d &_v);
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/// \brief Multiplication operators
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/// \param[in] _v the scaling factor
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/// \return a scaled vector
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public: const Vector2d operator*(double _v) const;
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/// \brief Multiplication assignment operator
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/// \param[in] _v the scaling factor
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/// \return a scaled vector
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public: const Vector2d &operator*=(double _v);
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/// \brief Equal to operator
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/// \param[in] _v the vector to compare to
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/// \return true if the elements of the 2 vectors are equal within
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/// a tolerence (1e-6)
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public: bool operator ==(const Vector2d &_v) const;
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/// \brief Not equal to operator
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/// \return true if elements are of diffent values (tolerence 1e-6)
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public: bool operator!=(const Vector2d &_v) const;
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/// \brief See if a point is finite (e.g., not nan)
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/// \return true if finite, false otherwise
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public: bool IsFinite() const;
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/// \brief Array subscript operator
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/// \param[in] _index the index
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/// \return the value, or 0 if _index is out of bounds
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public: double operator[](unsigned int _index) const;
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/// \brief Convert this vector to an ignition::math::Vector2d.
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/// \return This vector as an ignition::math::Vector2d.
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public: ignition::math::Vector2d Ign() const;
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/// \brief x data
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public: double x;
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/// \brief y data
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public: double y;
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/// \brief Stream extraction operator
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/// \param[in] _out output stream
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/// \param[in] _pt Vector2d to output
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/// \return The stream
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public: friend std::ostream &operator<<(std::ostream &_out,
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const gazebo::math::Vector2d &_pt)
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{
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_out << _pt.x << " " << _pt.y;
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return _out;
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}
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/// \brief Stream extraction operator
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/// \param[in] _in input stream
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/// \param[in] _pt Vector3 to read values into
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/// \return The stream
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public: friend std::istream &operator>>(std::istream &_in,
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gazebo::math::Vector2d &_pt)
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{
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// Skip white spaces
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_in.setf(std::ios_base::skipws);
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_in >> _pt.x >> _pt.y;
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return _in;
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}
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};
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/// \}
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}
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}
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#endif
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