217 lines
6.7 KiB
C++
217 lines
6.7 KiB
C++
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/*
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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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* WITHOUint 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_VECTOR2I_HH_
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#define _GAZEBO_VECTOR2I_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 <ignition/math/Vector2.hh>
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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 Vector2i Vector2i.hh math/gzmath.hh
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/// \brief Generic integer x, y vector
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class GZ_MATH_VISIBLE Vector2i
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{
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/// \brief Constructor
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public: Vector2i();
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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: Vector2i(const int &_x, const int &_y);
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/// \brief Copy constructor
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/// \param[in] _pt a point
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public: Vector2i(const Vector2i &_pt);
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/// \brief Copy constructor for ignition math
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/// \param[in] _pt a point
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public: Vector2i(const ignition::math::Vector2i &_pt);
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/// \brief Destructor
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public: virtual ~Vector2i();
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/// \brief Calc distance to the given point
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/// \param[in] _pt a point
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/// \return the distance
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public: int Distance(const Vector2i &_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(int _x, int _y);
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/// \brief Return the cross product of this vector and _pt
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/// \param[in] _pt the other vector
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/// \return the product
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public: Vector2i Cross(const Vector2i &_pt) const;
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/// \brief Assignment operator
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/// \param[in] _v the value
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/// \return this
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public: Vector2i &operator =(const Vector2i &_v);
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/// \brief Assignment operator for ignition math
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/// \param[in] _v the value
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/// \return this
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public: Vector2i &operator =(const ignition::math::Vector2i &_v);
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/// \brief Assignment operator
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/// \param[in] _value the value for x and y
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/// \return this
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public: const Vector2i &operator =(int _value);
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/// \brief Addition operator
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/// \param[in] _v the vector to add
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/// \return the sum vector
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public: Vector2i operator+(const Vector2i &_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 Vector2i &operator+=(const Vector2i &_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 result vector
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public: Vector2i operator-(const Vector2i &_v) const;
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/// \brief Subtraction operators
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/// \param[in] _v the vector to substract
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/// \return this
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public: const Vector2i &operator-=(const Vector2i &_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 the vector to divide
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/// \return the result
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public: const Vector2i operator/(const Vector2i &_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 the vector to divide
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/// \return this
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public: const Vector2i &operator/=(const Vector2i &_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 the vector to divide
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/// \return the result
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public: const Vector2i operator/(int _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 the vector to divide
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/// \result this
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public: const Vector2i &operator/=(int _v);
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/// \brief Multiplication 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 the result
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public: const Vector2i operator*(const Vector2i &_v) const;
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/// \brief Multiplication operators
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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 Vector2i &operator*=(const Vector2i &_v);
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/// \brief Multiplication operator
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/// \param[in] _v the scaling factor
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/// \return the result
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public: const Vector2i operator*(int _v) const;
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/// \brief Multiplication operator
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/// \param[in] _v scaling factor
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/// \return this
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public: const Vector2i &operator*=(int _v);
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/// \brief Equality operator
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/// \param _v the vector to compare with
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/// \return true if component have the same values, false otherwise
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public: bool operator ==(const Vector2i &_v) const;
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/// \brief Equality operators
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/// \param _v the vector to compare with
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/// \return true if component have different values, false otherwise
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public: bool operator!=(const Vector2i &_v) const;
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/// \brief See if a point is finite (e.g., not nan)
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/// \return the result
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public: bool IsFinite() const;
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/// \brief Array subscript operator
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/// \param[in] _index the array index
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public: int operator[](unsigned int _index) const;
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/// \brief Convert this vector to ignition::math::Vector2i
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/// \return Return an ignition::math::Vector2i representation of this
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/// vector.
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public: ignition::math::Vector2i Ign() const;
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/// \brief x data
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public: int x;
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/// \brief y data
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public: int y;
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/// \brief Stream insertion operator
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/// \param[in] _out output stream
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/// \param[in] pt Vector2i 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::Vector2i &_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::Vector2i &_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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