76 lines
2.0 KiB
C++
76 lines
2.0 KiB
C++
/**
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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 <boost/serialization/nvp.hpp>
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#include "Vector.h"
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#include "Testable.h"
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namespace gtsam {
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/**
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* A 2D point
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* Derived from testable so has standard print and equals, and assert_equals works
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* Functional, so no set functions: once created, a point is constant.
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*/
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class Point2: Testable<Point2> {
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private:
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double x_, y_;
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public:
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Point2(): x_(0), y_(0) {}
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Point2(const Point2 &p) : x_(p.x_), y_(p.y_) {}
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Point2(double x, double y): x_(x), y_(y) {}
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Point2(const Vector& v) : x_(v(0)), y_(v(1)) {}
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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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/** get functions for x, y */
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double x() const {return x_;}
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double y() const {return y_;}
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/** return DOF, dimensionality of tangent space */
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size_t dim() const { return 2;}
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/** Given 3-dim tangent vector, create new rotation */
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Point2 exmap(const Vector& d) const {
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return Point2(x_+d(0),y_+d(1));
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}
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/** return vectorized form (column-wise) */
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Vector vector() const {
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Vector v(2);
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v(0)=x_;v(1)=y_;
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return v;
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}
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/** operators */
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inline bool operator ==(const Point2& q) const {return x_==q.x_ && q.y_==q.y_;}
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inline Point2 operator + (const Point2& q) const {return Point2(x_+q.x_,y_+q.y_);}
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inline Point2 operator - (const Point2& q) const {return Point2(x_-q.x_,y_-q.y_);}
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inline Point2 operator / (double q) const {return Point2(x_/q,y_/q);}
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/** distance between two points */
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double dist(const Point2& p2) const;
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private:
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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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