point2d.h

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#ifndef POINT2D_H
#define POINT2D_H

#include <memory>
#include <opencv2/core/core.hpp>
#include <tuw_geometry/utils.h>

namespace tuw {


class Point2D;  
class Polar2D;
using Point2DPtr = std::shared_ptr< Point2D >;
using Point2DConstPtr = std::shared_ptr< Point2D const>;

class Point2D : public cv::Vec<double, 3 > {
public:
    Point2D(); 
    Point2D ( const Point2D &p );
    Point2D ( const cv::Point &p );
    Point2D ( double x, double y );
    Point2D ( double x, double y, double h );
    Point2D ( const Polar2D& p );
    template<typename T> Point2D ( const cv::Vec<T,3> &p ) : cv::Vec<double,3> ( p ) {};
    template<typename T> Point2D ( const cv::Vec<T,2> &p ) : cv::Vec<double,3> ( p ) {};
    template<typename T> Point2D ( const cv::Point_<T> &p ) : cv::Vec<double,3> ( p.x,p.y,1. ) {};

    Point2D &set ( double x, double y );
    Point2D &set ( double x, double y, double h );
    const double &x () const;
    double &x ();
    const double &y () const;
    double &y ();
    const double &h () const;
    double &h ();
    void set_x (double v);
    double get_x () const;
    void set_y (double v);
    double get_y () const;
    void set_h (double v);
    double get_h () const;
    double angle () const;
    double radius () const;
    cv::Vec<double, 2> vector () const;
    double  distanceTo ( const Point2D &p ) const;
    const cv::Point_<double>  &cv () const;
    cv::Point_<double>  &cv () ;
    bool inside ( double x0, double y0, double x1, double y1 ) const;
    friend std::ostream &operator << ( std::ostream &os, const Point2D &o ) {
        os << "[" << o.x() <<  ", " << o.y() << "]";
        return os;
    }
    std::string str(const char* format = "[%6.4lf, %6.4lf, %6.5lf]") const;
    
    bool equal( const Point2D& o, double tolerance = 0.0001 ) const ;
};


};

namespace cv {
template<typename _Tp> static inline tuw::Point2D operator * ( const Matx<_Tp, 3, 3>& a, const tuw::Point2D& b ) {
    Matx<_Tp, 3, 1> c ( a, b, Matx_MatMulOp() );
    return reinterpret_cast<const tuw::Point2D&> ( c );
}
}
#endif //POINT2D_H