Program Listing for File vector2.hpp

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#ifndef TF2_2D__VECTOR2_HPP_
#define TF2_2D__VECTOR2_HPP_

#include <tf2/LinearMath/Scalar.h>

#include <Eigen/Core>


namespace tf2_2d
{

class Vector2
{
public:
  enum Axis
  {
    X = 0,
    Y = 1
  };

  Vector2();

  Vector2(const tf2Scalar x, const tf2Scalar y);

  Vector2 operator-() const;

  Vector2 & operator+=(const Vector2 & rhs);

  Vector2 & operator-=(const Vector2 & rhs);

  Vector2 & operator*=(const tf2Scalar rhs);

  Vector2 & operator*=(const Vector2 & rhs);

  Vector2 & operator/=(const tf2Scalar rhs);

  Vector2 & operator/=(const Vector2 & rhs);

  bool operator==(const Vector2 & other) const;

  bool operator!=(const Vector2 & other) const;

  tf2Scalar dot(const Vector2 & other) const;

  tf2Scalar length2() const;

  tf2Scalar length() const;

  tf2Scalar distance2(const Vector2 & other) const;

  tf2Scalar distance(const Vector2 & other) const;

  Vector2 & normalize();

  Vector2 normalized() const;

  tf2Scalar angle(const Vector2 & other) const;

  Vector2 absolute() const;

  Axis minAxis() const;

  Axis maxAxis() const;

  Axis furthestAxis() const;

  Axis closestAxis() const;

  Vector2 lerp(const Vector2 & other, const tf2Scalar ratio) const;

  const tf2Scalar & getX() const;
  const tf2Scalar & x() const {return getX();}

  const tf2Scalar & getY() const;
  const tf2Scalar & y() const {return getY();}

  void setX(const tf2Scalar x);

  void setY(const tf2Scalar y);

  void setMax(const Vector2 & other);

  void setMin(const Vector2 & other);

  void setValue(const tf2Scalar x, const tf2Scalar y);

  void setZero();

  bool isZero() const;

  bool fuzzyZero() const;

  Eigen::Vector2d getVector() const;

  Eigen::Matrix3d getHomogeneousMatrix() const;

private:
  tf2Scalar x_;
  tf2Scalar y_;
};

Vector2 operator+(Vector2 lhs, const Vector2 & rhs);

Vector2 operator-(Vector2 lhs, const Vector2 & rhs);

Vector2 operator*(Vector2 lhs, const tf2Scalar rhs);

Vector2 operator*(const tf2Scalar lhs, Vector2 rhs);

Vector2 operator*(Vector2 lhs, const Vector2 & rhs);

Vector2 operator/(Vector2 lhs, const tf2Scalar rhs);

Vector2 operator/(Vector2 lhs, const Vector2 & rhs);

std::ostream & operator<<(std::ostream & stream, const Vector2 & vector);

}  // namespace tf2_2d

#include <tf2_2d/vector2_impl.hpp>

#endif  // TF2_2D__VECTOR2_HPP_