Visual Servoing Platform version 3.6.0
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vpScanPoint.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Single laser scanner point.
33 *
34*****************************************************************************/
35#ifndef vpScanPoint_h
36#define vpScanPoint_h
37
38#include <visp3/core/vpMath.h>
39
40#include <cmath> // std::fabs
41#include <limits> // numeric_limits
42#include <math.h>
43#include <ostream>
44#include <sstream>
45
70class /* VISP_EXPORT */ vpScanPoint // Note that here VISP_EXPORT should not
71 // be added since this class is complete
72 // inline
73{
74public:
76 inline vpScanPoint() : rDist(0), hAngle(0), vAngle(0) {}
78 inline vpScanPoint(const vpScanPoint &scanpoint) : rDist(0), hAngle(0), vAngle(0)
79 {
80 this->rDist = scanpoint.rDist;
81 this->hAngle = scanpoint.hAngle;
82 this->vAngle = scanpoint.vAngle;
83 }
90 inline vpScanPoint(double r_dist, double h_angle, double v_angle) : rDist(r_dist), hAngle(h_angle), vAngle(v_angle)
91 {
92 this->rDist = r_dist;
93 this->hAngle = h_angle;
94 this->vAngle = v_angle;
95 }
97 inline virtual ~vpScanPoint(){};
104 inline void setPolar(double r_dist, double h_angle, double v_angle)
105 {
106 this->rDist = r_dist;
107 this->hAngle = h_angle;
108 this->vAngle = v_angle;
109 }
113 inline double getRadialDist() const { return (this->rDist); }
117 inline double getVAngle() const { return (this->vAngle); }
121 inline double getHAngle() const { return (this->hAngle); }
129 inline double getX() const { return (rDist * cos(this->hAngle) * cos(this->vAngle)); }
137 inline double getY() const { return (rDist * sin(this->hAngle)); }
144 inline double getZ() const { return (rDist * cos(this->hAngle) * sin(this->vAngle)); }
145
146#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
147 vpScanPoint &operator=(const vpScanPoint &) = default;
148#endif
149
150 friend inline std::ostream &operator<<(std::ostream &s, const vpScanPoint &p);
151
157 friend inline bool operator==(const vpScanPoint &sp1, const vpScanPoint &sp2)
158 {
159 double rd1 = sp1.getRadialDist();
160 double ha1 = sp1.getHAngle();
161 double va1 = sp1.getVAngle();
162 double rd2 = sp2.getRadialDist();
163 double ha2 = sp2.getHAngle();
164 double va2 = sp2.getVAngle();
165
166 return ((std::fabs(rd1 - rd2) <= std::fabs(vpMath::maximum(rd1, rd2)) * std::numeric_limits<double>::epsilon()) &&
167 (std::fabs(ha1 - ha2) <= std::fabs(vpMath::maximum(ha1, ha2)) * std::numeric_limits<double>::epsilon()) &&
168 (std::fabs(va1 - va2) <= std::fabs(vpMath::maximum(va1, va2)) * std::numeric_limits<double>::epsilon()));
169 }
170
176 friend inline bool operator!=(const vpScanPoint &sp1, const vpScanPoint &sp2)
177 {
178 // return ( ( sp1.getRadialDist() != sp2.getRadialDist() )
179 // || ( sp1.getHAngle() != sp2.getHAngle() )
180 // || ( sp1.getVAngle() != sp2.getVAngle() ) );
181 double rd1 = sp1.getRadialDist();
182 double ha1 = sp1.getHAngle();
183 double va1 = sp1.getVAngle();
184 double rd2 = sp2.getRadialDist();
185 double ha2 = sp2.getHAngle();
186 double va2 = sp2.getVAngle();
187 return ((std::fabs(rd1 - rd2) > std::fabs(vpMath::maximum(rd1, rd2)) * std::numeric_limits<double>::epsilon()) ||
188 (std::fabs(ha1 - ha2) <= std::fabs(vpMath::maximum(ha1, ha2)) * std::numeric_limits<double>::epsilon()) ||
189 (std::fabs(va1 - va2) <= std::fabs(vpMath::maximum(va1, va2)) * std::numeric_limits<double>::epsilon()));
190 }
191
192private:
193 double rDist;
194 double hAngle;
195 double vAngle;
196};
197
235inline std::ostream &operator<<(std::ostream &s, const vpScanPoint &p)
236{
237 std::ios_base::fmtflags original_flags = s.flags();
238
239 s.precision(10);
240 s << p.getRadialDist() << " " << p.getHAngle() << " " << p.getVAngle() << " " << p.getX() << " " << p.getY() << " "
241 << p.getZ();
242
243 s.setf(original_flags); // restore s to standard state
244
245 return s;
246}
247
248#endif
static Type maximum(const Type &a, const Type &b)
Definition vpMath.h:172
Class that defines a single laser scanner point.
Definition vpScanPoint.h:73
double getX() const
virtual ~vpScanPoint()
Definition vpScanPoint.h:97
friend bool operator!=(const vpScanPoint &sp1, const vpScanPoint &sp2)
friend std::ostream & operator<<(std::ostream &s, const vpScanPoint &p)
vpScanPoint(double r_dist, double h_angle, double v_angle)
Definition vpScanPoint.h:90
double getVAngle() const
double getZ() const
void setPolar(double r_dist, double h_angle, double v_angle)
double getY() const
vpScanPoint & operator=(const vpScanPoint &)=default
vpScanPoint(const vpScanPoint &scanpoint)
Definition vpScanPoint.h:78
double getRadialDist() const
double getHAngle() const
friend bool operator==(const vpScanPoint &sp1, const vpScanPoint &sp2)