67 lines
1.7 KiB
C++
67 lines
1.7 KiB
C++
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/**
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* Copyright 2020 Jonathan Bayless
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*
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* Use of this source code is governed by an MIT-style license that can be found
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* in the LICENSE file or at https://opensource.org/licenses/MIT.
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*/
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#ifndef _GEOMETRY_POSE_HPP_
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#define _GEOMETRY_POSE_HPP_
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#include <cmath>
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#include <string>
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#include "math/utils.hpp"
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namespace squiggles {
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class Pose {
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public:
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/**
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* Specifies a point and heading in 2D space.
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*
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* @param ix The x position of the point in meters.
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* @param iy The y position of the point in meters.
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* @param iyaw The heading at the point in radians.
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*/
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Pose(double ix, double iy, double iyaw) : x(ix), y(iy), yaw(iyaw) {}
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Pose() = default;
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/**
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* Calculates the Euclidean distance between this pose and another.
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*
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* @param other The point from which the distance will be calculated.
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*
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* @return The distance between this pose and Other.
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*/
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double dist(const Pose& other) const {
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return std::sqrt((x - other.x) * (x - other.x) +
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(y - other.y) * (y - other.y));
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}
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/**
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* Serializes the Pose data for debugging.
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*
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* @return The Pose data.
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*/
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std::string to_string() const {
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return "Pose: {x: " + std::to_string(x) + ", y: " + std::to_string(y) +
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", yaw: " + std::to_string(yaw) + "}";
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}
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std::string to_csv() const {
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return std::to_string(x) + "," + std::to_string(y) + "," +
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std::to_string(yaw);
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}
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bool operator==(const Pose& other) const {
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return nearly_equal(x, other.x) && nearly_equal(y, other.y) &&
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nearly_equal(yaw, other.yaw);
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}
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double x;
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double y;
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double yaw;
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};
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} // namespace squiggles
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#endif
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