almath/types/alposition2d.h

/*
 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */


#pragma once
#ifndef _LIBALMATH_ALMATH_TYPES_ALPOSITION2D_H_
#define _LIBALMATH_ALMATH_TYPES_ALPOSITION2D_H_

#include <vector>

namespace AL {
  namespace Math {

    struct Position2D
    {
      float x;
      float y;



      Position2D();





      explicit Position2D(float pInit);





      Position2D(float pX, float pY);







      Position2D(const std::vector<float>& pFloats);

      Position2D operator+ (const Position2D& pPos2) const;

      Position2D operator- (const Position2D& pPos2) const;

      Position2D operator+ () const;

      Position2D operator- () const;

      Position2D& operator+= (const Position2D& pPos2);

      Position2D& operator-= (const Position2D& pPos2);

      bool operator==(const Position2D& pPos2) const;

      bool operator!=(const Position2D& pPos2) const;

      Position2D operator* (float pVal) const;

      Position2D operator/ (float pVal) const;

      Position2D& operator*= (float pVal);

      Position2D& operator/= (float pVal);

      float distanceSquared(const Position2D& pPos2) const;

      float distance(const Position2D& pPos2) const;

      bool isNear(
        const Position2D& pPos2,
        const float&      pEpsilon=0.0001f) const;

      float norm() const;

      Position2D normalize() const;

      float crossProduct(const Position2D& pPos2) const;

      std::vector<float> toVector() const;
    };

    // TODO : Need this ?
    Position2D operator* (
      const float       pM,
      const Position2D& pPos1);

    float distanceSquared(
      const Position2D& pPos1,
      const Position2D& pPos2);

    float distance(
      const Position2D& pPos1,
      const Position2D& pPos2);

    float norm(const Position2D& pPos);

    Position2D normalize(const Position2D& pPos);

    float crossProduct(
      const Position2D& pPos1,
      const Position2D& pPos2);

    void crossProduct(
      const Position2D& pPos1,
      const Position2D& pPos2,
      float&            pRes);

  } // end namespace math
} // end namespace al
#endif  // _LIBALMATH_ALMATH_TYPES_ALPOSITION2D_H_