Box2D.hpp
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00001 //
00002 // Box2D.hpp
00003 // A rotated 2-dimensional box.
00004 //
00005 
00006 #ifndef BOX2D_H
00007 #define BOX2D_H
00008 
00009 #include "Point2D.hpp"
00010 #include "../BasicDatatypes.hpp"
00011 #include <iosfwd> // for istream, ostream
00012 #include <vector>
00013 
00014 namespace datatypes
00015 {
00016 
00017 // Forward declarations
00018 class Polygon2D;
00019 
00021 
00034 class Box2D : public BasicData
00035 {
00036 public:
00038         typedef Point2D::value_type value_type;
00039 private:
00040         Point2D m_center;
00041         Point2D m_size;
00042         value_type m_rotation;
00043 public:
00045         Box2D();
00046 
00048 
00059         Box2D(const Point2D& center, const Point2D& size, value_type rotation = 0.0);
00060 
00062 
00082         Box2D(value_type x_center, value_type y_center, value_type x_size, value_type y_size, value_type rotation = 0.0);
00083 
00084         // Estimate the memory usage of this object
00085         virtual const UINT32 getUsedMemory() const { return sizeof(*this); };
00086         
00087         
00089         //\{
00090 
00092         const Point2D& getCenter() const { return m_center; }
00093 
00095 
00101         const Point2D& getSize() const { return m_size; }
00102 
00108         value_type getRotation() const { return m_rotation; }
00109 
00111 
00115         Polygon2D toPolygon() const;
00116 
00118 
00124         Box2D toBoundingBox() const;
00125 
00136         std::pair<value_type, value_type> getBoundingAngles() const;
00137 
00140         Box2D movedBy(const Point2D& centerMovement) const;
00141         //\}
00142 
00143 
00145         //\{
00146 
00148         void setCenter(const Point2D& p) { m_center = p; }
00149 
00151         void setCenter(value_type x, value_type y) { m_center.setXY(x, y); }
00152 
00154         void setSize(const Point2D& p);
00155 
00157         void setSize(value_type x_length, value_type y_width);
00158 
00166         void setRotation(value_type r);
00167 
00169         void moveBy(const Point2D& centerMovement);
00170         //\}
00171 
00173         //\{
00174 
00176 
00181         bool containsPoint(const Point2D& point) const;
00182 
00184 
00194         Point2D::value_type distanceFromOutline(const Point2D& point) const;
00195 
00197 
00207         Point2D::value_type distanceFromOutline(const std::vector<Point2D>& points) const;
00208 
00210 
00220         Point2D::value_type distanceFromOutline(const std::vector<Point2D>::const_iterator& begin,
00221                                                                                         const std::vector<Point2D>::const_iterator& end) const;
00222 
00223 
00225 
00230         static Box2D orientatedBox(value_type orientation_rad, const Polygon2D& poly);
00231 
00233 
00241         static Box2D orientatedBox(value_type orientation_rad, const std::vector<Point2D>& points);
00242 
00244 
00252         static Box2D orientatedBox(value_type orientation_rad,
00253                                                            const std::vector<Point2D>::const_iterator& begin,
00254                                                            const std::vector<Point2D>::const_iterator& end);
00255 
00256 
00257         std::string toString() const;           // Konvertierung in String
00258 
00259 
00260         friend inline bool operator==(const Box2D &, const Box2D &);
00261         friend inline bool operator!=(const Box2D &, const Box2D &);
00262 
00263 private:
00264         void verifyNumericRanges();
00265 
00266 };
00267 
00268 
00269 inline bool operator==(const Box2D &b1, const Box2D &b2)
00270 {
00271         return (b1.m_center == b2.m_center)
00272                    && (b1.m_size == b2.m_size)
00273                    && (fuzzyCompare(b1.m_rotation, b2.m_rotation)
00274                            || (isNaN(b1.m_rotation) && isNaN(b2.m_rotation)));
00275 }
00276 
00277 inline bool operator!=(const Box2D &b1, const Box2D &b2)
00278 {
00279         return ! operator==(b1, b2);
00280 }
00281 
00282 
00283 }       // namespace datatypes
00284 
00285 #endif // BOX2D_H


libsick_ldmrs
Author(s): SICK AG , Martin G√ľnther , Jochen Sprickerhof
autogenerated on Wed Jun 14 2017 04:04:50