217 lines
6.3 KiB
C++
217 lines
6.3 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Point2.h
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* @brief 2D Point
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* @author Frank Dellaert
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*/
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#pragma once
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#include <gtsam/base/VectorSpace.h>
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#include <boost/serialization/nvp.hpp>
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namespace gtsam {
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/**
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* A 2D point
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* Complies with the Testable Concept
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* Functional, so no set functions: once created, a point is constant.
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* @addtogroup geometry
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* \nosubgrouping
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*/
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class GTSAM_EXPORT Point2 {
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private:
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double x_, y_;
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public:
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enum { dimension = 2 };
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/// @name Standard Constructors
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/// @{
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/// default constructor
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Point2(): x_(0), y_(0) {}
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/// construct from doubles
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Point2(double x, double y): x_(x), y_(y) {}
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/// @}
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/// @name Advanced Constructors
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/// @{
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/// construct from 2D vector
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explicit Point2(const Vector2& v) {
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x_ = v(0);
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y_ = v(1);
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}
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/*
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* @brief Circle-circle intersection, given normalized radii.
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* Calculate f and h, respectively the parallel and perpendicular distance of
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* the intersections of two circles along and from the line connecting the centers.
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* Both are dimensionless fractions of the distance d between the circle centers.
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* If the circles do not intersect or they are identical, returns boost::none.
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* If one solution (touching circles, as determined by tol), h will be exactly zero.
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* h is a good measure for how accurate the intersection will be, as when circles touch
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* or nearly touch, the intersection is ill-defined with noisy radius measurements.
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* @param R_d : R/d, ratio of radius of first circle to distance between centers
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* @param r_d : r/d, ratio of radius of second circle to distance between centers
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* @param tol: absolute tolerance below which we consider touching circles
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* @return optional Point2 with f and h, boost::none if no solution.
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*/
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static boost::optional<Point2> CircleCircleIntersection(double R_d, double r_d,
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double tol = 1e-9);
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/*
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* @brief Circle-circle intersection, from the normalized radii solution.
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* @param c1 center of first circle
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* @param c2 center of second circle
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* @return list of solutions (0,1, or 2). Identical circles will return empty list, as well.
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*/
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static std::list<Point2> CircleCircleIntersection(Point2 c1, Point2 c2, boost::optional<Point2>);
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/**
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* @brief Intersect 2 circles
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* @param c1 center of first circle
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* @param r1 radius of first circle
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* @param c2 center of second circle
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* @param r2 radius of second circle
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* @param tol: absolute tolerance below which we consider touching circles
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* @return list of solutions (0,1, or 2). Identical circles will return empty list, as well.
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*/
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static std::list<Point2> CircleCircleIntersection(Point2 c1, double r1,
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Point2 c2, double r2, double tol = 1e-9);
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/// @}
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/// @name Testable
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/// @{
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/// print with optional string
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void print(const std::string& s = "") const;
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/// equals with an tolerance, prints out message if unequal
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bool equals(const Point2& q, double tol = 1e-9) const;
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/// @}
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/// @name Group
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/// @{
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/// identity
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inline static Point2 identity() {return Point2();}
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/// inverse
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inline Point2 operator- () const {return Point2(-x_,-y_);}
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/// add vector on right
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inline Point2 operator +(const Vector2& v) const {
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return Point2(x_ + v[0], y_ + v[1]);
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}
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/// add
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inline Point2 operator + (const Point2& q) const {return Point2(x_+q.x_,y_+q.y_);}
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/// subtract
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inline Point2 operator - (const Point2& q) const {return Point2(x_-q.x_,y_-q.y_);}
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/// @}
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/// @name Vector Space
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/// @{
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/** creates a unit vector */
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Point2 unit() const { return *this/norm(); }
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/** norm of point, with derivative */
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double norm(OptionalJacobian<1,2> H = boost::none) const;
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/** distance between two points */
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double distance(const Point2& p2, OptionalJacobian<1,2> H1 = boost::none,
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OptionalJacobian<1,2> H2 = boost::none) const;
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/** @deprecated The following function has been deprecated, use distance above */
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inline double dist(const Point2& p2) const {
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return (p2 - *this).norm();
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}
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/// multiply with a scalar
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inline Point2 operator * (double s) const {return Point2(x_*s,y_*s);}
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/// divide by a scalar
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inline Point2 operator / (double q) const {return Point2(x_/q,y_/q);}
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/// @}
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/// @name Standard Interface
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/// @{
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/// equality
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inline bool operator ==(const Point2& q) const {return x_==q.x_ && y_==q.y_;}
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/// get x
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double x() const {return x_;}
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/// get y
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double y() const {return y_;}
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/// return vectorized form (column-wise). TODO: why does this function exist?
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Vector2 vector() const { return Vector2(x_, y_); }
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/// @}
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/// @name Deprecated
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/// @{
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inline void operator += (const Point2& q) {x_+=q.x_;y_+=q.y_;}
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inline void operator *= (double s) {x_*=s;y_*=s;}
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Point2 inverse() const { return -(*this);}
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Point2 compose(const Point2& q) const { return (*this)+q;}
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Point2 between(const Point2& q) const { return q-(*this);}
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Vector2 localCoordinates(const Point2& q) const { return between(q).vector();}
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Point2 retract(const Vector2& v) const { return compose(Point2(v));}
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static Vector2 Logmap(const Point2& p) { return p.vector();}
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static Point2 Expmap(const Vector2& v) { return Point2(v);}
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/// @}
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/// Streaming
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GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Point2& p);
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private:
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/// @name Advanced Interface
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/// @{
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/)
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{
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ar & BOOST_SERIALIZATION_NVP(x_);
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ar & BOOST_SERIALIZATION_NVP(y_);
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}
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/// @}
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};
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// Convenience typedef
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typedef std::pair<Point2, Point2> Point2Pair;
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std::ostream &operator<<(std::ostream &os, const gtsam::Point2Pair &p);
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// For MATLAB wrapper
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typedef std::vector<Point2> Point2Vector;
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/// multiply with scalar
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inline Point2 operator*(double s, const Point2& p) {return p*s;}
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template<>
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struct traits<Point2> : public internal::VectorSpace<Point2> {};
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} // \ namespace gtsam
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