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<h1>geometry2D.h</h1> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">Copyright (c) 2004, Tim Bailey</span>
<a name="l00003"></a>00003 <span class="comment">All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment">Redistribution and use in source and binary forms, with or without</span>
<a name="l00006"></a>00006 <span class="comment">modification, are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment"> * Redistributions of source code must retain the above copyright notice,</span>
<a name="l00009"></a>00009 <span class="comment"> this list of conditions and the following disclaimer.</span>
<a name="l00010"></a>00010 <span class="comment"> * Redistributions in binary form must reproduce the above copyright notice,</span>
<a name="l00011"></a>00011 <span class="comment"> this list of conditions and the following disclaimer in the documentation</span>
<a name="l00012"></a>00012 <span class="comment"> and/or other materials provided with the distribution.</span>
<a name="l00013"></a>00013 <span class="comment"> * Neither the name of the Player Project nor the names of its contributors</span>
<a name="l00014"></a>00014 <span class="comment"> may be used to endorse or promote products derived from this software</span>
<a name="l00015"></a>00015 <span class="comment"> without specific prior written permission.</span>
<a name="l00016"></a>00016 <span class="comment"></span>
<a name="l00017"></a>00017 <span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span>
<a name="l00018"></a>00018 <span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00019"></a>00019 <span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00020"></a>00020 <span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR</span>
<a name="l00021"></a>00021 <span class="comment">ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00022"></a>00022 <span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00023"></a>00023 <span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON</span>
<a name="l00024"></a>00024 <span class="comment">ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00025"></a>00025 <span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00026"></a>00026 <span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00027"></a>00027 <span class="comment">*/</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029
<a name="l00030"></a>00030 <span class="comment">/* Simple 2D geometric operations with points, poses, and lines.</span>
<a name="l00031"></a>00031 <span class="comment"> *</span>
<a name="l00032"></a>00032 <span class="comment"> * These algorithms were worked out by me from first principles several years</span>
<a name="l00033"></a>00033 <span class="comment"> * ago. They work ok, but are not particularly good implementations. I recommend</span>
<a name="l00034"></a>00034 <span class="comment"> * the geometric source-code and resources by David Eberly on the "Magic Software"</span>
<a name="l00035"></a>00035 <span class="comment"> * website: www.magic-software.com.</span>
<a name="l00036"></a>00036 <span class="comment"> *</span>
<a name="l00037"></a>00037 <span class="comment"> * Tim Bailey 2004.</span>
<a name="l00038"></a>00038 <span class="comment"> */</span>
<a name="l00039"></a>00039 <span class="preprocessor">#ifndef GEOMETRY_2D_H_</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define GEOMETRY_2D_H_</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <vector></span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">namespace </span>Geom2D {
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="comment">//</span>
<a name="l00047"></a>00047 <span class="comment">// Basic Structures</span>
<a name="l00048"></a>00048 <span class="comment">//</span>
<a name="l00049"></a>00049
<a name="l00050"></a><a class="code" href="structGeom2D_1_1Point.html">00050</a> <span class="keyword">struct </span><a class="code" href="structGeom2D_1_1Point.html">Point</a>
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="keywordtype">double</span> x;
<a name="l00053"></a>00053 <span class="keywordtype">double</span> y;
<a name="l00054"></a>00054 <span class="keywordtype">short</span> <span class="keywordtype">int</span> laser_index;
<a name="l00055"></a>00055 };
<a name="l00056"></a>00056
<a name="l00057"></a><a class="code" href="structGeom2D_1_1Pose.html">00057</a> <span class="keyword">struct </span><a class="code" href="structGeom2D_1_1Pose.html">Pose</a>
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <a class="code" href="structGeom2D_1_1Point.html">Point</a> p;
<a name="l00060"></a>00060 <span class="keywordtype">double</span> phi;
<a name="l00061"></a>00061 };
<a name="l00062"></a>00062
<a name="l00063"></a><a class="code" href="structGeom2D_1_1Line.html">00063</a> <span class="keyword">struct </span><a class="code" href="structGeom2D_1_1Line.html">Line</a> {
<a name="l00064"></a>00064 <a class="code" href="structGeom2D_1_1Point.html">Point</a> first;
<a name="l00065"></a>00065 <a class="code" href="structGeom2D_1_1Point.html">Point</a> second;
<a name="l00066"></a>00066 };
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="comment">//</span>
<a name="l00069"></a>00069 <span class="comment">// Utility functions</span>
<a name="l00070"></a>00070 <span class="comment">//</span>
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="keyword">const</span> <span class="keywordtype">double</span> PI = 3.14159265358979;
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="keyword">inline</span>
<a name="l00075"></a>00075 <span class="keywordtype">double</span> sqr(<span class="keywordtype">double</span> x) { <span class="keywordflow">return</span> x*x; }
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="keyword">inline</span>
<a name="l00078"></a>00078 <span class="keywordtype">double</span> abs(<span class="keywordtype">double</span> x) { <span class="keywordflow">return</span> (x<0.) ? -x : x; }
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="keyword">inline</span>
<a name="l00081"></a>00081 <span class="keywordtype">double</span> round(<span class="keywordtype">double</span> x) {
<a name="l00082"></a>00082 <span class="keywordflow">return</span> (x<0.) ? -<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(0.5-x) : static_cast<int>(0.5+x);
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084 <span class="comment">/*</span>
<a name="l00085"></a>00085 <span class="comment">template<class T></span>
<a name="l00086"></a>00086 <span class="comment">inline</span>
<a name="l00087"></a>00087 <span class="comment">void swap(T& a, T& b) </span>
<a name="l00088"></a>00088 <span class="comment">{</span>
<a name="l00089"></a>00089 <span class="comment"> T tmp(a);</span>
<a name="l00090"></a>00090 <span class="comment"> a = b;</span>
<a name="l00091"></a>00091 <span class="comment"> b = tmp;</span>
<a name="l00092"></a>00092 <span class="comment">}</span>
<a name="l00093"></a>00093 <span class="comment">*/</span>
<a name="l00094"></a>00094 <span class="keyword">inline</span>
<a name="l00095"></a>00095 <span class="keywordtype">double</span> pi_to_pi(<span class="keywordtype">double</span> angle) { <span class="comment">// normalise an angle to within +/- PI</span>
<a name="l00096"></a>00096 <span class="keywordflow">while</span> (angle < -PI)
<a name="l00097"></a>00097 angle += 2.*PI;
<a name="l00098"></a>00098 <span class="keywordflow">while</span> (angle > PI)
<a name="l00099"></a>00099 angle -= 2.*PI;
<a name="l00100"></a>00100 <span class="keywordflow">return</span> angle;
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">//</span>
<a name="l00104"></a>00104 <span class="comment">// Point and Pose algorithms</span>
<a name="l00105"></a>00105 <span class="comment">//</span>
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="keyword">inline</span>
<a name="l00108"></a>00108 <span class="keywordtype">double</span> dist_sqr(<span class="keyword">const</span> Point& p, <span class="keyword">const</span> Point& q) { <span class="comment">// squared distance between two Points</span>
<a name="l00109"></a>00109 <span class="keywordflow">return</span> (sqr(p.x-q.x) + sqr(p.y-q.y));
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="keywordtype">double</span> dist(<span class="keyword">const</span> Point& p, <span class="keyword">const</span> Point& q);
<a name="l00113"></a>00113 Pose compute_relative_pose(<span class="keyword">const</span> std::vector<Point>& a, <span class="keyword">const</span> std::vector<Point>& b);
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">//</span>
<a name="l00116"></a>00116 <span class="comment">// Line algorithms</span>
<a name="l00117"></a>00117 <span class="comment">//</span>
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keywordtype">bool</span> intersection_line_line (Point& p, <span class="keyword">const</span> Line& l, <span class="keyword">const</span> Line& m);
<a name="l00120"></a>00120 <span class="keywordtype">double</span> distance_line_point (<span class="keyword">const</span> Line& lne, <span class="keyword">const</span> Point& p);
<a name="l00121"></a>00121 <span class="keywordtype">void</span> intersection_line_point(Point& p, <span class="keyword">const</span> Line& l, <span class="keyword">const</span> Point& q);
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="comment">//</span>
<a name="l00124"></a>00124 <span class="comment">// Basic transformations on 2-D Points (x,y) and Poses (x,y,phi).</span>
<a name="l00125"></a>00125 <span class="comment">//</span>
<a name="l00126"></a>00126
<a name="l00127"></a><a class="code" href="classGeom2D_1_1Transform2D.html">00127</a> <span class="keyword">class </span><a class="code" href="classGeom2D_1_1Transform2D.html">Transform2D</a> {
<a name="l00128"></a>00128 <span class="keyword">public</span>:
<a name="l00129"></a>00129 <a class="code" href="classGeom2D_1_1Transform2D.html">Transform2D</a>(<span class="keyword">const</span> <a class="code" href="structGeom2D_1_1Pose.html">Pose</a>& ref);
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="keywordtype">void</span> transform_to_relative(<a class="code" href="structGeom2D_1_1Point.html">Point</a> &p);
<a name="l00132"></a>00132 <span class="keywordtype">void</span> transform_to_relative(<a class="code" href="structGeom2D_1_1Pose.html">Pose</a> &p);
<a name="l00133"></a>00133 <span class="keywordtype">void</span> transform_to_global(<a class="code" href="structGeom2D_1_1Point.html">Point</a> &p);
<a name="l00134"></a>00134 <span class="keywordtype">void</span> transform_to_global(<a class="code" href="structGeom2D_1_1Pose.html">Pose</a> &p);
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="keyword">private</span>:
<a name="l00137"></a>00137 <span class="keyword">const</span> <a class="code" href="structGeom2D_1_1Pose.html">Pose</a> base;
<a name="l00138"></a>00138 <span class="keywordtype">double</span> c;
<a name="l00139"></a>00139 <span class="keywordtype">double</span> s;
<a name="l00140"></a>00140 };
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="keyword">inline</span>
<a name="l00143"></a>00143 <span class="keywordtype">void</span> Transform2D::transform_to_relative(<a class="code" href="structGeom2D_1_1Point.html">Point</a> &p) {
<a name="l00144"></a>00144 p.x -= base.p.x;
<a name="l00145"></a>00145 p.y -= base.p.y;
<a name="l00146"></a>00146 <span class="keywordtype">double</span> t(p.x);
<a name="l00147"></a>00147 p.x = p.x*c + p.y*s;
<a name="l00148"></a>00148 p.y = p.y*c - t*s;
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="keyword">inline</span>
<a name="l00152"></a>00152 <span class="keywordtype">void</span> Transform2D::transform_to_global(Point &p) {
<a name="l00153"></a>00153 <span class="keywordtype">double</span> t(p.x);
<a name="l00154"></a>00154 p.x = base.p.x + c*p.x - s*p.y;
<a name="l00155"></a>00155 p.y = base.p.y + s*t + c*p.y;
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="keyword">inline</span>
<a name="l00159"></a>00159 <span class="keywordtype">void</span> Transform2D::transform_to_relative(Pose &p) {
<a name="l00160"></a>00160 transform_to_relative(p.p);
<a name="l00161"></a>00161 p.phi= pi_to_pi(p.phi-base.phi);
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="keyword">inline</span>
<a name="l00165"></a>00165 <span class="keywordtype">void</span> Transform2D::transform_to_global(Pose &p) {
<a name="l00166"></a>00166 transform_to_global(p.p);
<a name="l00167"></a>00167 p.phi= pi_to_pi(p.phi+base.phi);
<a name="l00168"></a>00168 }
<a name="l00169"></a>00169
<a name="l00170"></a>00170 } <span class="comment">// namespace Geom2D</span>
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <span class="preprocessor">#endif</span>
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