00001 //---------------------------------------------------------------------- 00002 // The Motion Strategy Library (MSL) 00003 //---------------------------------------------------------------------- 00004 // 00005 // Copyright (c) University of Illinois and Steven M. LaValle. 00006 // All Rights Reserved. 00007 // 00008 // Permission to use, copy, and distribute this software and its 00009 // documentation is hereby granted free of charge, provided that 00010 // (1) it is not a component of a commercial product, and 00011 // (2) this notice appears in all copies of the software and 00012 // related documentation. 00013 // 00014 // The University of Illinois and the author make no representations 00015 // about the suitability or fitness of this software for any purpose. 00016 // It is provided "as is" without express or implied warranty. 00017 //---------------------------------------------------------------------- 00018 00019 #ifndef MSL_POINT_H 00020 #define MSL_POINT_H 00021 00022 00023 #ifdef WIN32 00024 #include <iostream> 00025 #include <list> 00026 using namespace std; 00027 #else 00028 #include <iostream.h> 00029 #include <list.h> 00030 #endif 00031 00032 #include "mslio.h" 00033 00034 class MSLPoint 00035 { 00036 double xrep; 00037 double yrep; 00038 00039 public: 00040 00041 MSLPoint(); 00042 MSLPoint(double x, double y); 00043 ~MSLPoint() {} 00044 double xcoord() const { return xrep; } 00045 double ycoord() const { return yrep; } 00046 void normalize() const {} 00047 int dim() const { return 2; } 00048 double sqr_dist(const MSLPoint& q) const; 00049 double xdist(const MSLPoint& q) const; 00050 double ydist(const MSLPoint& q) const; 00051 double distance(const MSLPoint& q) const; 00052 double distance() const { return distance(MSLPoint(0,0)); } 00053 double angle(const MSLPoint& q, const MSLPoint& r) const; 00054 MSLPoint translate_by_angle(double alpha, double d) const; 00055 MSLPoint translate(double dx, double dy) const; 00056 MSLPoint rotate(const MSLPoint& q, double a) const; 00057 MSLPoint rotate(double a) const; 00058 MSLPoint rotate90(const MSLPoint& q) const; 00059 MSLPoint rotate90() const; 00060 MSLPoint reflect(const MSLPoint& q, const MSLPoint& r) const; 00061 MSLPoint reflect(const MSLPoint& q) const; 00062 bool operator==(const MSLPoint& q) const; 00063 bool operator!=(const MSLPoint& q) const { return !operator==(q);} 00064 00065 friend ostream& operator<<(ostream& O, const MSLPoint& p) ; 00066 friend istream& operator>>(istream& I, MSLPoint& p) ; 00067 //friend istream& operator>>(istream& is, list<MSLPoint>& vl); 00068 //friend ostream& operator<<(ostream& os, const list<MSLPoint>& vl); 00069 //friend istream& operator>>(istream& is, list<list<MSLPoint> >& vl); 00070 //friend ostream& operator<<(ostream& os, const list<list<MSLPoint> >& vl); 00071 }; 00072 00073 ostream& operator<<(ostream& O, const MSLPoint& p) ; 00074 istream& operator>>(istream& I, MSLPoint& p) ; 00075 00076 00077 inline MSLPoint center(const MSLPoint& a, const MSLPoint& b) { 00078 return MSLPoint((a.xcoord()+b.xcoord())/2,(a.ycoord()+b.ycoord())/2); 00079 } 00080 00081 00082 inline MSLPoint midMSLPoint(const MSLPoint& a, const MSLPoint& b) { 00083 return center(a,b); 00084 } 00085 00086 00087 inline int orientation(const MSLPoint& a, const MSLPoint& b, const MSLPoint& c) 00088 { double d1 = (a.xcoord() - b.xcoord()) * (a.ycoord() - c.ycoord()); 00089 double d2 = (a.ycoord() - b.ycoord()) * (a.xcoord() - c.xcoord()); 00090 if (d1 == d2) return 0; else return (d1 > d2) ? +1 : -1; 00091 } 00092 00093 inline int cmp_signed_dist(const MSLPoint& a, const MSLPoint& b, 00094 const MSLPoint& c, const MSLPoint& d) 00095 { double d1 = (a.xcoord() - b.xcoord()) * (d.ycoord() - c.ycoord()); 00096 double d2 = (a.ycoord() - b.ycoord()) * (d.xcoord() - c.xcoord()); 00097 if (d1 == d2) return 0; else return (d1 > d2) ? +1 : -1; 00098 } 00099 00100 inline double area(const MSLPoint& a, const MSLPoint& b, const MSLPoint& c) 00101 { return ((a.xcoord()-b.xcoord()) * (a.ycoord()-c.ycoord()) - 00102 (a.ycoord()-b.ycoord()) * (a.xcoord()-c.xcoord()))/2; } 00103 00104 inline bool collinear(const MSLPoint& a, const MSLPoint& b, const MSLPoint& c) 00105 { return (a.ycoord()-b.ycoord()) * (a.xcoord()-c.xcoord()) == 00106 (a.xcoord()-b.xcoord()) * (a.ycoord()-c.ycoord()); } 00107 00108 inline bool right_turn(const MSLPoint& a, const MSLPoint& b, const MSLPoint& c) 00109 { return (a.xcoord()-b.xcoord()) * (a.ycoord()-c.ycoord()) < 00110 (a.ycoord()-b.ycoord()) * (a.xcoord()-c.xcoord()); } 00111 00112 inline bool left_turn(const MSLPoint& a, const MSLPoint& b, const MSLPoint& c) 00113 { return (a.xcoord()-b.xcoord()) * (a.ycoord()-c.ycoord()) > 00114 (a.ycoord()-b.ycoord()) * (a.xcoord()-c.xcoord()); } 00115 00116 extern int side_of_circle(const MSLPoint& a, const MSLPoint& b, 00117 const MSLPoint& c, const MSLPoint& d); 00118 00119 inline bool incircle(const MSLPoint& a, const MSLPoint& b, const MSLPoint& c, 00120 const MSLPoint& d) 00121 { return (orientation(a,b,c) * side_of_circle(a,b,c,d)) > 0; } 00122 00123 inline bool outcircle(const MSLPoint& a, const MSLPoint& b, const MSLPoint& c, 00124 const MSLPoint& d) 00125 { return (orientation(a,b,c) * side_of_circle(a,b,c,d)) < 0; } 00126 00127 inline bool cocircular(const MSLPoint& a, const MSLPoint& b, const MSLPoint& c, 00128 const MSLPoint& d) 00129 { return side_of_circle(a,b,c,d) == 0; } 00130 00131 00132 // Add a fake polygon class which is a list of points 00133 // typedef list<MSLPoint> MSLPolygon; 00134 00135 #endif 00136