conv.c

robocup rcssmonitor-11.1.1.zip

/*
 * Copyright (c) 1999 - 2001, Artur Merke <[e-mail]>
 *
 * This file is part of FrameView2d.
 *
 * FrameView2d is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * FrameView2d is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with FrameView2d; see the file COPYING.  If not, write to
 * the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
 */

#include "conv.h"

#include <cmath>
#include <iostream>
#include "global_defs.h"

std::ostream& operator<< (std::ostream& o, const WinPlaneConverter& c) {
  std::cout << "[ Win= ("<< c.Win_width << ", " << c.Win_height << ")"
       << "  Plane= (" << c.Plane_east_x << ", " << c.Plane_south_y << ")"
       << "  size=(" << c.Plane_size_x << ", " << c.Plane_size_y << ") ]";
  return o;
}


WinPlaneConverter::WinPlaneConverter() {
}

WinPlaneConverter::WinPlaneConverter(int width, int height, 
				     const Point2d &center, double size_x, double size_y) {
  init(width,height, center,size_x, size_y);
}

void WinPlaneConverter::init(int width, int height, 
			     const Point2d &center, double size_x, double size_y) {
  init_win(width,height);
  init_plane(center,size_x,size_y);
}

void WinPlaneConverter::init_win(int width, int height) {
  if (width < 20 || height < 20)
    ERROR_OUT << "wrong view parameter";
  Win_width    = width;
  Win_height    = height;
}


void WinPlaneConverter::init_plane(const Point2d &center,double size_x,double size_y) {
  if (size_x < 0 || size_y < 0 )
    ERROR_OUT << "wrong view parameter";
  Plane_size_x= size_x;
  Plane_size_y= size_y;
  Plane_east_x  = center.x - size_x * 0.5;
  Plane_south_y = center.y - size_y * 0.5; 
}

void WinPlaneConverter::get_Win(int & width, int & height) const {
  width= Win_width;
  height= Win_height;
}

void WinPlaneConverter::get_Plane(Point2d & center, double & size_x, double & size_y) const {
  size_x= Plane_size_x;
  size_y= Plane_size_y;
  center.x = Plane_east_x + size_x*0.5;
  center.y = Plane_south_y + size_y*0.5;
}
/*****************************************************************************/
/*****************************************************************************/
/*****************************************************************************/
/******************** T E S T ********* T E S T*******************************/

#if 0

main() {
  WinPlaneConverter v(40,40,-50,-30,50,30);

  std::cout << "\n" << v.x_Win_to_x_Plane(v.x_Plane_to_x_Win(0.0));
  std::cout << "\n" << v.x_Plane_to_x_Win(-50.0);
  std::cout << "\n" << v.y_Plane_to_y_Win(-30.0);
}



#endif