geometry.h

2003年RoboCup仿真组世界冠军源代码 足球机器人 仿真组 的源代码

/*
Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

3. Neither the name of the University of Amsterdam nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

/*! \file Geometry.h
<pre>
<b>File:</b>          Geometry.h
<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn
<b>Authors:</b>       Jelle Kok
<b>Created:</b>       12/02/2001
<b>Last Revision:</b> $ID$
<b>Contents:</b>      Header file for the classes VecPosition, Geometry, Line,
               Circle and Rectangle. All the member
               data and member method declarations for all these classes can be
               found in this file together with some auxiliary functions for
               numeric and goniometric purposes.
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
12/02/2001       Jelle Kok       Initial version created
09/06/2001       Remco de Boer   Version including full documentation completed
</pre>
*/

#ifndef _GEOMETRY_
#define _GEOMETRY_

#include "math.h"       // needed for M_PI constant
#include <string>       // needed for string
#include <iostream>

using namespace std;

typedef double AngRad;  /*!< Type definition for angles in degrees. */
typedef double AngDeg;  /*!< Type definition for angles in radians. */

#define EPSILON 0.0001  /*!< Value used for floating point equality tests. */

// auxiliary numeric functions for determining the
// maximum and minimum of two given double values and the sign of a value
double max     ( double d1, double d2 );
double min     ( double d1, double d2 );
int    sign    ( double d1            );

// auxiliary goniometric functions which enable you to
// specify angles in degrees rather than in radians
AngDeg Rad2Deg ( AngRad x             );
AngRad Deg2Rad ( AngDeg x             );
double cosDeg  ( AngDeg x             );
double sinDeg  ( AngDeg x             );
double tanDeg  ( AngDeg x             );
AngDeg atanDeg ( double x             );
double atan2Deg( double x,  double y  );
AngDeg acosDeg ( double x             );
AngDeg asinDeg ( double x             );

// various goniometric functions
bool   isAngInInterval     ( AngDeg ang,    AngDeg angMin,    AngDeg angMax );
AngDeg getBisectorTwoAngles( AngDeg angMin, AngDeg angMax );

/*! CoordSystem is an enumeration of the different specified
    coordinate systems.  The two possibilities are CARTESIAN or
    POLAR. These values are for instance used in the initializing a
    VecPosition. The CoordSystem indicates whether the supplied
    arguments represent the position in cartesian or in polar
    coordinates. */
enum CoordSystemT {
  CARTESIAN,
  POLAR
};

/*****************************************************************************/
/********************   CLASS VECPOSITION   **********************************/
/*****************************************************************************/

/*! This class contains an x- and y-coordinate of a position (x,y) as
    member data and methods which operate on this position. The
    standard arithmetic operators are overloaded and can thus be
    applied to positions (x,y). It is also possible to represent a
    position in polar coordinates (r,phi), since the class contains a
    method to convert these into cartesian coordinates (x,y). */
class VecPosition
{
  // private member data
private:

  double m_x;   /*!< x-coordinate of this position */
  double m_y;   /*!< y-coordinate of this position */

  // public methods
public:
  // constructor for VecPosition class
  VecPosition                               ( double            vx = 0,
                                              double            vy = 0,
                                              CoordSystemT      cs =CARTESIAN);

  // overloaded arithmetic operators
  VecPosition        operator -             (                                );
  VecPosition        operator +             ( const double      &d           );
  VecPosition        operator +             ( const VecPosition &p           );
  VecPosition        operator -             ( const double      &d           );
  VecPosition        operator -             ( const VecPosition &p           );
  VecPosition        operator *             ( const double      &d           );
  VecPosition        operator *             ( const VecPosition &p           );
  VecPosition        operator /             ( const double      &d           );
  VecPosition        operator /             ( const VecPosition &p           );
  void               operator =             ( const double      &d           );
  void               operator +=            ( const VecPosition &p           );
  void               operator +=            ( const double      &d           );
  void               operator -=            ( const VecPosition &p           );
  void               operator -=            ( const double      &d           );
  void               operator *=            ( const VecPosition &p           );
  void               operator *=            ( const double      &d           );
  void               operator /=            ( const VecPosition &p           );
  void               operator /=            ( const double      &d           );
  bool               operator !=            ( const VecPosition &p           );
  bool               operator !=            ( const double      &d           );
  bool               operator ==            ( const VecPosition &p           );
  bool               operator ==            ( const double      &d           );

  // methods for producing output
  friend ostream&    operator <<            ( ostream           &os,
                                              VecPosition       p            );
  void               show                   ( CoordSystemT      cs =CARTESIAN);
  string             str                    ( CoordSystemT      cs =CARTESIAN);

  // set- and get methods for private member variables
  bool               setX                   ( double            dX           );
  double             getX                   (                          ) const;
  bool               setY                   ( double            dY           );
  double             getY                   (                          ) const;

  // set- and get methods for derived position information
  void               setVecPosition         ( double            dX = 0,
                                              double            dY = 0,
                                              CoordSystemT      cs =CARTESIAN);
  double             getDistanceTo          ( const VecPosition p            );
  VecPosition        setMagnitude           ( double            d            );
  double             getMagnitude           (                          ) const;
  AngDeg             getDirection           (                          ) const;

  // comparison methods for positions