pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/math/Vector2i.hh

/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUint WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_VECTOR2I_HH_
#define _GAZEBO_VECTOR2I_HH_

#include <math.h>
#include <iostream>
#include <fstream>
#include <ignition/math/Vector2.hh>

#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace math
  {
    /// \addtogroup gazebo_math
    /// \{

    /// \class Vector2i Vector2i.hh math/gzmath.hh
    /// \brief Generic integer x, y vector
    class GZ_MATH_VISIBLE Vector2i
    {
      /// \brief Constructor
      public: Vector2i();

      /// \brief Constructor
      /// \param[in] _x value along x
      /// \param[in] _y value along y
      public: Vector2i(const int &_x, const int &_y);

      /// \brief Copy constructor
      /// \param[in] _pt a point
      public: Vector2i(const Vector2i &_pt);

      /// \brief Copy constructor for ignition math
      /// \param[in] _pt a point
      public: Vector2i(const ignition::math::Vector2i &_pt);

      /// \brief Destructor
      public: virtual ~Vector2i();

      /// \brief Calc distance to the given point
      /// \param[in] _pt a point
      /// \return the distance
      public: int Distance(const Vector2i &_pt) const;

      /// \brief  Normalize the vector length
      public: void Normalize();

      /// \brief Set the contents of the vector
      /// \param[in] _x value along x
      /// \param[in] _y value along y
      public: void Set(int _x, int _y);

      /// \brief Return the cross product of this vector and _pt
      /// \param[in] _pt the other vector
      /// \return the product
      public: Vector2i Cross(const Vector2i &_pt) const;

      /// \brief Assignment operator
      /// \param[in] _v the value
      /// \return this
      public: Vector2i &operator =(const Vector2i &_v);

      /// \brief Assignment operator for ignition math
      /// \param[in] _v the value
      /// \return this
      public: Vector2i &operator =(const ignition::math::Vector2i &_v);

      /// \brief Assignment operator
      /// \param[in] _value the value for x and y
      /// \return this
      public: const Vector2i &operator =(int _value);

      /// \brief Addition operator
      /// \param[in] _v the vector to add
      /// \return the sum vector
      public: Vector2i operator+(const Vector2i &_v) const;

      /// \brief Addition assignment operator
      /// \param[in] _v the vector to add
      /// \return this
      public: const Vector2i &operator+=(const Vector2i &_v);

      /// \brief Subtraction operator
      /// \param[in] _v the vector to substract
      /// \return the result vector
      public: Vector2i operator-(const Vector2i &_v) const;

      /// \brief Subtraction operators
      /// \param[in] _v the vector to substract
      /// \return this
      public: const Vector2i &operator-=(const Vector2i &_v);

      /// \brief Division operator
      /// \remarks this is an element wise division.
      /// \param[in] _v the vector to divide
      /// \return the result
      public: const Vector2i operator/(const Vector2i &_v) const;

      /// \brief Division operator
      /// \remarks this is an element wise division.
      /// \param[in] _v the vector to divide
      /// \return this
      public: const Vector2i &operator/=(const Vector2i &_v);

      /// \brief Division operator
      /// \remarks this is an element wise division.
      /// \param[in] _v the vector to divide
      /// \return the result
      public: const Vector2i operator/(int _v) const;

      /// \brief Division operator
      /// \remarks this is an element wise division.
      /// \param[in] _v the vector to divide
      /// \result this
      public: const Vector2i &operator/=(int _v);

      /// \brief Multiplication operator
      /// \remarks this is an element wise multiplication
      /// \param[in] _v the vector
      /// \return the result
      public: const Vector2i operator*(const Vector2i &_v) const;

      /// \brief Multiplication operators
      /// \remarks this is an element wise multiplication
      /// \param[in] _v the vector
      /// \return this
      public: const Vector2i &operator*=(const Vector2i &_v);

      /// \brief Multiplication operator
      /// \param[in] _v the scaling factor
      /// \return the result
      public: const Vector2i operator*(int _v) const;

      /// \brief Multiplication operator
      /// \param[in] _v scaling factor
      /// \return this
      public: const Vector2i &operator*=(int _v);

      /// \brief Equality operator
      /// \param _v the vector to compare with
      /// \return true if component have the same values, false otherwise
      public: bool operator ==(const Vector2i &_v) const;

      /// \brief Equality operators
      /// \param _v the vector to compare with
      /// \return true if component have different values, false otherwise
      public: bool operator!=(const Vector2i &_v) const;

      /// \brief See if a point is finite (e.g., not nan)
      /// \return the result
      public: bool IsFinite() const;

      /// \brief Array subscript operator
      /// \param[in] _index the array index
      public: int operator[](unsigned int _index) const;

      /// \brief Convert this vector to ignition::math::Vector2i
      /// \return Return an ignition::math::Vector2i representation of this
      /// vector.
      public: ignition::math::Vector2i Ign() const;

      /// \brief x data
      public: int x;

      /// \brief y data
      public: int y;

      /// \brief Stream insertion operator
      /// \param[in] _out output stream
      /// \param[in] pt Vector2i to output
      /// \return the stream
      public: friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::math::Vector2i &_pt)
      {
        _out << _pt.x << " " << _pt.y;
        return _out;
      }

      /// \brief Stream extraction operator
      /// \param[in] _in input stream
      /// \param[in] _pt Vector3 to read values into
      /// \return The stream
      public: friend std::istream &operator>>(std::istream &_in,
                  gazebo::math::Vector2i &_pt)
      {
        // Skip white spaces
        _in.setf(std::ios_base::skipws);
        _in >> _pt.x >> _pt.y;
        return _in;
      }
    };

  /// \}
  }
}
#endif