alposition2d.h

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/*
 * 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>
#include <almath/api.h>

namespace AL {
  namespace Math {

    struct ALMATH_API Position2D
    {
      float x;
      float y;


      Position2D();


      explicit Position2D(float pInit);


      Position2D(float pX, float pY);


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

      static Position2D fromPolarCoordinates(const float pRadius,
                                             const float pAngle);

      inline Position2D operator+ (const Position2D& pPos2) const
      {
        return Position2D(x + pPos2.x, y + pPos2.y);
      }

      inline Position2D operator- (const Position2D& pPos2) const
      {
        return Position2D(x - pPos2.x, y - pPos2.y);
      }

      inline Position2D operator+ (void) const
      {
        return *this;
      }

      inline Position2D operator- () const
      {
        return Position2D(-x, -y);
      }

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

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

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

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

      inline Position2D operator* (float pVal) const
      {
        return Position2D(x*pVal, y*pVal);
      }

      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 dotProduct(const Position2D& pPos2) const;

      float crossProduct(const Position2D& pPos2) const;

      void toVector(std::vector<float>& pReturnVector) const;
      std::vector<float> toVector(void) const;

      void writeToVector(std::vector<float>::iterator& pIt) const;

      float getAngle() const;
    };

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

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

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

    ALMATH_API float norm(const Position2D& pPos);

    ALMATH_API Position2D normalize(const Position2D& pPos);

    ALMATH_API float dotProduct(
      const Position2D& pPos1,
      const Position2D& pPos2);

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

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

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