rndf_point.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda


//todo: fix the variable names made of this type. most of them are still like
//'wp_id_'
#ifndef CAJUN_RNDF_POINT_H
#define CAJUN_RNDF_POINT_H

#include "rndf.H"
#include "util.H"

namespace cajun
{
        class rndf_point_t
        {
                friend class mission_handler_t;
                friend class mission_planner_t;
                friend class task_plan_handler_t;

                rndf_t const *m_rndf;
                rndf_t::waypoint_id_t m_id;

                double m_x;
                double m_y;

                bool m_is_rndf_wp;
                unsigned m_inter_rp_id; //Id for rp between wp pair, 0-wp, >1 for
                                     //intermediate rndf points

                // For non rndf wps
                bool m_is_exit;
                bool m_is_entry;

                rndf_point_t (rndf_t const *rndf_,
                              rndf_t::waypoint_id_t const &wp_id_,
                              double x_ = 0, double y_ = 0,
                              bool is_rndf_wp = true):
                        m_rndf (rndf_), m_id (wp_id_), m_x (x_), m_y (y_),
                        m_is_rndf_wp (is_rndf_wp), m_inter_rp_id (0),
                        m_is_exit (false), m_is_entry (false)
                        {}

                rndf_point_t (rndf_t const *rndf_, unsigned sid_,
                              unsigned lid_, unsigned wid_,
                              double x_ = 0, double y_ = 0,
                              bool is_rndf_wp = true):
                        m_rndf (rndf_), m_id (sid_, lid_, wid_), m_x (x_),
                        m_y (y_), m_is_rndf_wp (is_rndf_wp),
                        m_inter_rp_id (0),
                        m_is_exit (false), m_is_entry (false)
                        {}

                //fixme: get rid of this constructor
                rndf_point_t ()
                        {}
        public:
                rndf_t::waypoint_id_t const id () const
                        { return m_id; }

                double x () const { return m_x; }

                double y () const { return m_y; }

                unsigned operator [] (unsigned i_) const
                        { return m_id[i_]; }

                //fixme: when is this operation used and what happens for
                //intermediate rps
                bool operator < (rndf_point_t const &rp_) const
                        { return m_id < rp_.id (); }

                bool operator != (rndf_point_t const &rp_) const
                {
                        double max_dis = 0.1;

                        return m_id != rp_.id () ||
                                !are_too_close_points (m_x, m_y,
                                                       rp_.x (), rp_.y (),
                                                       max_dis);
                }

                bool operator == (rndf_point_t const &rp_) const
                {
                        double max_dis = 0.1;

                        return m_id == rp_.id () &&
                                are_too_close_points (m_x, m_y,
                                                      rp_.x (), rp_.y (),
                                                      max_dis);
                }
                void print () const
                {
                        printf (" (%u %u %u), wp=%d (%.2f %.2f)\n",
                                m_id[0], m_id[1], m_id[2], m_is_rndf_wp,
                                m_x, m_y);
                }

                // Details about wp
                bool is_rndf_wp () const
                        { return m_is_rndf_wp; }
                bool is_entry () const;
                bool is_exit () const;
                bool in_segment () const;
                bool is_stop () const;
                bool in_zone () const;
                bool is_perimeter () const;
                bool is_spot () const;
                bool is_checkpoint () const;

                unsigned checkpoint_id () const;


                //rndf modification, wil be allowed only for non-rndf rps
                void set_exit ();
                void set_entry ();
                void set_xy (double x_, double y_);
                void set_id (rndf_t::waypoint_id_t wp_id_);

//              void set_inter_rp_id (unsigned id_)
//                      { m_inter_rp_id = id_; }
//              unsigned get_inter_rp_id ()
//                      { return m_inter_rp_id;}
        };

        class rp_containter_t
        {
                rndf_point_t *m_rp;
        public:
                rp_containter_t (rndf_point_t *rp_) : m_rp (rp_)
                        {}

                rndf_point_t* rp () const
                        {return m_rp; }

                rndf_t::waypoint_id_t const id () const
                        { return m_rp->id (); }

                unsigned operator [] (unsigned i_) const
                        { return (*m_rp)[i_]; }

                bool operator < (rp_containter_t const &rpc_) const
                {
                        //return m_rp->id () < rpc_.id ();
                        return (*m_rp) < *(rpc_.rp ());
                }

                // comparing addresses
                bool operator != (rp_containter_t const &rpc_) const
                {
                        //return m_rp->id () != rpc_.id ();
                        return (*m_rp) != *(rpc_.rp ());
                }
                // comparing addresses
                bool operator == (rp_containter_t const &rpc_) const
                {
                        //return m_rp->id () == rpc_.id ();
                        return (*m_rp) == *(rpc_.rp ());

                }

                void print () const
                {
                        m_rp->print ();
                }
        };
};

#endif

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