Point2d.h

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#pragma once

#include <Eigen/Dense>

namespace Eigen {
 typedef Matrix<bool, Dynamic, 1> VectorXb;
}

namespace isam {

class Point2d {
  friend std::ostream& operator<<(std::ostream& out, const Point2d& p) {
    p.write(out);
    return out;
  }

  double _x;
  double _y;

public:
  static const int dim = 2;
  static const int size = 2;
  static const char* name() {
    return "Point2d";
  }
  Point2d() : _x(0), _y(0) {}
  Point2d(double x, double y) : _x(x), _y(y) {}
  Point2d(const Eigen::Vector2d& vec) : _x(vec(0)), _y(vec(1)) {}

  double x() const {return _x;}
  double y() const {return _y;}

  void set_x(double x) {_x = x;}
  void set_y(double y) {_y = y;}

  Point2d exmap(const Eigen::Vector2d& delta) const {
    Point2d res = *this;
    res._x += delta(0);
    res._y += delta(1);
    return res;
  }

  Eigen::Vector2d vector() const {
    Eigen::Vector2d v(_x, _y);
    return v;
  }
  void set(double x, double y) {
    _x = x;
    _y = y;
  }
  void set(const Eigen::Vector2d& v) {
    _x = v(0);
    _y = v(1);
  }
  void write(std::ostream &out) const {
    out << "(" << _x << ", " << _y << ")";
  }
  
  Eigen::VectorXb is_angle() const {
    return Eigen::VectorXb::Zero(size);
  }
  
};

}