owlps/owlps-positioner/point3d.hh

/*
 * This file is part of the Owl Positioning System (OwlPS) project.
 * It is subject to the copyright notice and license terms in the
 * COPYRIGHT.t2t file found in the top-level directory of this
 * distribution and at
 *   https://code.lm7.fr/mcy/owlps/src/master/COPYRIGHT.t2t
 * No part of the OwlPS Project, including this file, may be copied,
 * modified, propagated, or distributed except according to the terms
 * contained in the COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be
 * distributed along with this file, either separately or by replacing
 * this notice by the COPYRIGHT.t2t file's contents.
 */


#ifndef _OWLPS_POSITIONING_POINT3D_HH_
#define _OWLPS_POSITIONING_POINT3D_HH_

class Timestamp ;

#include "posutil.hh"

#include <cmath>
#include <ostream>
#include <string>
#include <vector>

/// Represents a point of the 3-D space
class Point3D
{
protected:
  float x ; ///< X horizontal coordinate (abscissa)
  float y ; ///< Y horizontal coordinate (ordinate)
  float z ; ///< Vertical coordinate

public:
  Point3D(const float _x = 0, const float _y = 0, const float _z = 0):
    x(_x), y(_y), z(_z) {}

  Point3D(const Point3D &source):
    x(source.x), y(source.y), z(source.z) {}

  explicit Point3D(const float source[3]):
    x(source[0]), y(source[1]), z(source[2]) {}

  explicit Point3D(const std::string &source);

  virtual ~Point3D(void) {}

  /** @name Read accessors */
  //@{
  float get_x(void) const ;
  float get_y(void) const ;
  float get_z(void) const ;
  //@}

  /** @name Write accessors */
  //@{
  void set_x(const float _x) ;
  void set_y(const float _y) ;
  void set_z(const float _z) ;
  void set_coordinates(const float _x, const float _y, const float _z) ;
  void set_coordinates(const float source[3]) ;
  void set_coordinates(const Point3D &source) ;
  //@}

  /** @name Distance & angles operations */
  //@{
  /// Square euclidean distance to a Point3D, in 2D
  float square_distance_2d(const Point3D &p) const ;
  /// Square euclidean distance to a Point3D
  float square_distance(const Point3D &p) const ;
  /// Euclidean distance to a Point3D, in 2D
  float distance_2d(const Point3D &p) const ;
  /// Euclidean distance to a Point3D
  float distance(const Point3D &p) const ;
  /// Euclidean distance to the radius of a sphere
  float distance_to_sphere(const Point3D &centre,
                           const float radius) const ;
  /// Angle BÂC (A being *this) in 2D
  double angle_2d(const Point3D &b, const Point3D &c) const ;
  /// Rotate #x and #y with a given angle around a center c
  void rotate_2d(const Point3D &center, float angle) ;
  //@}

  /** @name Other operations */
  //@{
  /// Interpolates the coordinates of a Point3D to compute intermediate
  /// coordinates between two points
  void interpolate(const Point3D &end, float &step_hint,
                   std::vector<Point3D> &interpolated) const ;
  /// Interpolates the coordinates of a Point3D according to the speed of
  /// the mobile
  Point3D interpolate(const Point3D &end, const float speed,
                      const Timestamp &duration) const ;
  //@}

  /** @name Operators */
  //@{
  Point3D& operator=(const Point3D &source) ;
  bool operator==(const Point3D &source) const ;
  bool operator!=(const Point3D &source) const ;
  bool operator<(const Point3D &source) const ;
  bool operator>(const Point3D &source) const ;
  bool operator<=(const Point3D &source) const ;
  bool operator>=(const Point3D &source) const ;
  operator bool(void) const ;
  operator std::string(void) const ;
  //@}

  /// Displays a Point3D
  friend std::ostream& operator<<(std::ostream &os, const Point3D &p) ;
} ;



/* *** Read accessors *** */


inline float Point3D::get_x() const
{
  return x ;
}


inline float Point3D::get_y() const
{
  return y ;
}


inline float Point3D::get_z() const
{
  return z ;
}



/* *** Write accessors *** */


inline void Point3D::set_x(const float _x)
{
  x = _x ;
}


inline void Point3D::set_y(const float _y)
{
  y = _y ;
}


inline void Point3D::set_z(const float _z)
{
  z = _z ;
}


inline void Point3D::
set_coordinates(const float _x, const float _y, const float _z)
{
  x = _x ;
  y = _y ;
  z = _z ;
}


inline void Point3D::
set_coordinates(const float source[3])
{
  x = source[0] ;
  y = source[1] ;
  z = source[2] ;
}


/**
 * Updates x, y, z by passing a Point3D.
 * This is useful for derivated classes, and different than a direct
 * call to operator=().
 */
inline void Point3D::set_coordinates(const Point3D &source)
{
  this->operator=(source) ;
}



/* *** Distance operations *** */


/**
 * Note: to compare distances, use preferably square_distance_2d(),
 * which is more efficient.
 */
inline float Point3D::distance_2d(const Point3D &source) const
{
  return sqrtf(square_distance_2d(source)) ;
}


/**
 * Note: to compare distances, use preferably square_distance(),
 * which is more efficient.
 */
inline float Point3D::distance(const Point3D &source) const
{
  return sqrtf(square_distance(source)) ;
}


/**
 * @param centre The centre of the sphere.
 * @param radius The radius of the sphere.
 */
inline float Point3D::distance_to_sphere(
  const Point3D &centre, const float radius) const
{
  return distance(centre) - radius ;
}



/* *** Operators *** */


inline bool Point3D::operator!=(const Point3D &source) const
{
  return !(*this == source) ;
}


inline bool Point3D::operator>(const Point3D &source) const
{
  return source < *this ;
}


inline bool Point3D::operator<=(const Point3D &source) const
{
  return *this == source || *this < source ;
}


inline bool Point3D::operator>=(const Point3D &source) const
{
  return source <= *this ;
}



namespace std
{
template<> struct hash<Point3D>
{
public:
  size_t operator()(const Point3D &source) const
  {
    size_t seed = 0 ;

    PosUtil::hash_combine(seed, source.get_x()) ;
    PosUtil::hash_combine(seed, source.get_y()) ;
    PosUtil::hash_combine(seed, source.get_z()) ;

    return seed ;
  }
} ;
}



#endif // _OWLPS_POSITIONING_POINT3D_HH_