.. _program_listing_file__tmp_ws_src_tf2_2d_include_tf2_2d_vector2.hpp:

Program Listing for File vector2.hpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_tf2_2d_include_tf2_2d_vector2.hpp>` (``/tmp/ws/src/tf2_2d/include/tf2_2d/vector2.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
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    *  Copyright (c) 2019, Locus Robotics
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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_