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genericmap.h
00001 #ifndef HYDROOGMAP_GENERICMAP_H 00002 #define HYDROOGMAP_GENERICMAP_H 00003 00004 #include <assert.h> 00005 #include <cmath> 00006 #include <vector> 00007 #include <string> 00008 #include <ostream> 00009 #include <hydroportability/sharedlib.h> 00010 00011 namespace hydroogmap { 00012 00014 struct WorldCoords { 00015 WorldCoords( double worldX, double worldY ) 00016 : x(worldX), y(worldY) {} 00017 WorldCoords() {} 00018 double x; 00019 double y; 00020 }; 00021 SOEXPORT std::string toString(const WorldCoords &w); 00022 inline std::ostream &operator<<( std::ostream &s, const WorldCoords &w ) 00023 { return s << toString(w); } 00024 00026 struct GridIndices { 00027 GridIndices( int gridX, int gridY ) 00028 : x(gridX), y(gridY) {} 00029 GridIndices() {} 00030 int x; 00031 int y; 00032 }; 00033 SOEXPORT std::string toString(const GridIndices &g ); 00034 inline std::ostream &operator<<( std::ostream &s, const GridIndices &g ) 00035 { return s << toString(g); } 00036 00037 struct Frame2d 00038 { 00039 Frame2d( const WorldCoords &offsetP, double offsetO ) 00040 : p(offsetP), o(offsetO) {} 00041 Frame2d( double offsetX, double offsetY, double offsetO ) 00042 : p(offsetX,offsetY), o(offsetO) {} 00043 00045 WorldCoords p; 00047 double o; 00048 }; 00049 SOEXPORT std::string toString(const Frame2d &f); 00050 inline std::ostream &operator<<( std::ostream &s, const Frame2d &f ) 00051 { return s << toString(f); } 00052 bool operator==( const Frame2d &f1, const Frame2d &f2 ); 00053 00054 // Describes the map's size and place in the world: everything except the actual cell values. 00055 struct MetaData { 00056 MetaData() 00057 : numCellsX(0),numCellsY(0),metresPerCell(0),offset(0,0,0) {} 00058 MetaData( int pNumCellsX, 00059 int pNumCellsY, 00060 double pMetresPerCell, 00061 const Frame2d &pOffset ) 00062 : numCellsX(pNumCellsX), 00063 numCellsY(pNumCellsY), 00064 metresPerCell(pMetresPerCell), 00065 offset(pOffset) 00066 { 00067 assert(offset.o==0); 00068 } 00069 00071 bool coordsWithinMap( const WorldCoords &worldCoords ) const 00072 { return cellWithinMap(gridIndices(worldCoords)); } 00074 bool coordsWithinMap( double worldX, double worldY ) const 00075 { return coordsWithinMap(WorldCoords(worldX,worldY)); } 00076 00078 bool cellWithinMap( int gridX, int gridY ) const 00079 { return cellWithinMap(GridIndices(gridX,gridY)); } 00081 bool cellWithinMap( const GridIndices &gridIndices ) const 00082 { 00083 return ( gridIndices.x >= 0 && 00084 gridIndices.y >= 0 && 00085 gridIndices.x < numCellsX && 00086 gridIndices.y < numCellsY ); 00087 } 00088 00092 double worldXCoord( int gridX ) const 00093 { return double(offset.p.x + (gridX+0.5)*metresPerCell); } 00097 double worldYCoord( int gridY ) const 00098 { return double(offset.p.y + (gridY+0.5)*metresPerCell); } 00099 00101 int worldToIndexX( double worldX ) const 00102 { return (int) std::floor( (worldX-offset.p.x)/metresPerCell ); } 00103 int worldToIndexY( double worldY ) const 00104 { return (int) std::floor( (worldY-offset.p.y)/metresPerCell ); } 00105 00109 WorldCoords worldCoords( const GridIndices &gridIndices ) const 00110 { 00111 return WorldCoords( worldXCoord(gridIndices.x), worldYCoord(gridIndices.y) ); 00112 } 00113 WorldCoords worldCoords( int gridX, int gridY ) const 00114 { return worldCoords( GridIndices(gridX,gridY) ); } 00115 00118 GridIndices gridIndices( const WorldCoords &worldCoords ) const 00119 { return GridIndices( worldToIndexX(worldCoords.x), worldToIndexY(worldCoords.y) ); } 00120 GridIndices gridIndices( double worldX, double worldY ) const 00121 { return gridIndices( WorldCoords(worldX,worldY) ); } 00122 00124 double worldSizeX() const { return numCellsX*metresPerCell; } 00126 double worldSizeY() const { return numCellsY*metresPerCell; } 00127 00128 double minWorldX() const { return offset.p.x; } 00129 double minWorldY() const { return offset.p.y; } 00130 double maxWorldX() const { return minWorldX()+worldSizeX(); } 00131 double maxWorldY() const { return minWorldY()+worldSizeY(); } 00132 00133 int numCells() const { return numCellsX*numCellsY; } 00134 00136 int numCellsX; 00138 int numCellsY; 00140 double metresPerCell; 00142 Frame2d offset; 00143 }; 00144 SOEXPORT std::string toString(const MetaData &metaData ); 00145 inline std::ostream &operator<<( std::ostream &s, const MetaData &m ) 00146 { return s << toString(m); } 00147 bool operator==( const MetaData &m1, const MetaData &m2 ); 00148 inline bool operator!=( const MetaData &m1, const MetaData &m2 ) 00149 { return !(m1==m2); } 00150 00187 template<typename T> 00188 class SOEXPORT GenericMap 00189 { 00190 public: 00191 00192 explicit GenericMap() 00193 : metaData_(0,0,0,Frame2d(0,0,0)) 00194 { reallocate(0,0); } 00195 00196 explicit GenericMap( int numCellsX, 00197 int numCellsY, 00198 double offsetX, 00199 double offsetY, 00200 double offsetTheta, 00201 double metresPerCell, 00202 const T &initialValue ) 00203 : metaData_(numCellsX,numCellsY,metresPerCell,Frame2d(offsetX,offsetY,offsetTheta)) 00204 { 00205 reallocate( metaData_.numCellsX, metaData_.numCellsY ); 00206 fill( initialValue ); 00207 } 00208 00209 explicit GenericMap( int numCellsX, 00210 int numCellsY, 00211 const Frame2d &offset, 00212 double metresPerCell, 00213 const T &initialValue ) 00214 : metaData_(numCellsX,numCellsY,metresPerCell,offset) 00215 { 00216 reallocate( metaData_.numCellsX, metaData_.numCellsY ); 00217 fill( initialValue ); 00218 } 00219 00220 explicit GenericMap( int numCellsX, 00221 int numCellsY, 00222 const Frame2d &offset, 00223 double metresPerCell ) 00224 : metaData_(numCellsX,numCellsY,metresPerCell,offset) 00225 { reallocate( metaData_.numCellsX, metaData_.numCellsY ); } 00226 00227 explicit GenericMap( const MetaData &metaData ) 00228 : metaData_(metaData) 00229 { reallocate( metaData_.numCellsX, metaData_.numCellsY ); } 00230 00231 explicit GenericMap( const MetaData &metaData, 00232 const T &initialValue ) 00233 : metaData_(metaData) 00234 { 00235 reallocate( metaData_.numCellsX, metaData_.numCellsY ); 00236 fill( initialValue ); 00237 } 00238 00239 // member access functions 00240 00242 int numCellsX() const { return metaData_.numCellsX; }; 00243 00245 int numCellsY() const { return metaData_.numCellsY; }; 00246 00248 int numCells() const { return data_.size(); } 00249 00250 void setMetaData( const MetaData &metaData ) 00251 { 00252 metaData_ = metaData; 00253 reallocate( metaData_.numCellsX, metaData_.numCellsY ); 00254 } 00255 const MetaData &metaData() const { return metaData_; } 00256 00258 double worldSizeX() const { return metaData_.worldSizeX(); } 00260 double worldSizeY() const { return metaData_.worldSizeY(); } 00261 00262 double minWorldX() const { return metaData_.minWorldX(); } 00263 double minWorldY() const { return metaData_.minWorldY(); } 00264 double maxWorldX() const { return metaData_.maxWorldX(); } 00265 double maxWorldY() const { return metaData_.maxWorldY(); } 00266 00268 Frame2d &offset() { return metaData_.offset; }; 00270 const Frame2d &offset() const { return metaData_.offset; }; 00271 00273 void setMetresPerCell( double mPerCell ) { metaData_.metresPerCell = mPerCell; } 00275 double metresPerCell() const { return metaData_.metresPerCell; } 00276 00278 T *data() { return &data_[0]; }; 00280 const T *data() const { return &data_[0]; }; 00281 00283 const std::vector<T> &dataVec() const { return data_; }; 00284 std::vector<T> &dataVec() { return data_; }; 00285 00289 double worldXCoord( int gridX ) const 00290 { return metaData_.worldXCoord(gridX); } 00294 double worldYCoord( int gridY ) const 00295 { return metaData_.worldYCoord(gridY); } 00296 00300 void getWorldCoords( int gridX, int gridY, double &worldX, double &worldY ) const 00301 { 00302 WorldCoords world = worldCoords( GridIndices(gridX,gridY) ); 00303 worldX = world.x; worldY = world.y; 00304 } 00308 WorldCoords worldCoords( const GridIndices &gridIndices ) const 00309 { return metaData_.worldCoords(gridIndices); } 00310 WorldCoords worldCoords( int gridX, int gridY ) const 00311 { return metaData_.worldCoords( GridIndices(gridX,gridY) ); } 00312 00315 void getCellIndices( double worldX, double worldY, int &gridX, int &gridY ) const 00316 { 00317 gridX = worldToIndexX( worldX ); 00318 gridY = worldToIndexY( worldY ); 00319 } 00320 GridIndices gridIndices( const WorldCoords &worldCoords ) const 00321 { return metaData_.gridIndices(worldCoords); } 00322 GridIndices gridIndices( double worldX, double worldY ) const 00323 { return metaData_.gridIndices( WorldCoords(worldX,worldY) ); } 00324 00325 // Look up the index into the flat data array. 00326 int dataIndex( const GridIndices &gridIndices ) const 00327 { return gridIndices.y*numCellsX() + gridIndices.x; } 00328 int dataIndex( int x, int y ) const 00329 { return dataIndex(GridIndices(x,y)); } 00330 00333 T &gridCell( int indX, int indY ) 00334 { return gridCell(GridIndices(indX,indY)); } 00337 const T &gridCell( int indX, int indY ) const 00338 { return gridCell(GridIndices(indX,indY)); } 00339 00342 T &gridCell( const GridIndices &gridIndices ) 00343 { return data_[dataIndex(gridIndices)]; } 00346 const T &gridCell( const GridIndices &gridIndices ) const 00347 { return data_[dataIndex(gridIndices)]; } 00348 00349 00350 00353 T &worldCell( double worldX, double worldY ) 00354 { return worldCell(WorldCoords(worldX,worldY)); } 00357 const T &worldCell( double worldX, double worldY ) const 00358 { return worldCell(WorldCoords(worldX,worldY)); } 00359 00362 T &worldCell( const WorldCoords &worldCoords ) 00363 { 00364 return gridCell( gridIndices(worldCoords) ); 00365 } 00368 const T &worldCell( const WorldCoords &worldCoords ) const 00369 { 00370 return gridCell( gridIndices(worldCoords) ); 00371 } 00372 00374 bool tryGridCell( int indX, int indY, T &cell ) const 00375 { return tryGridCell( GridIndices(indX,indY), cell ); } 00376 00378 bool tryWorldCell( double worldX, double worldY, T &cell ) const 00379 { return tryWorldCell( WorldCoords(worldX,worldY), cell ); } 00380 00382 bool tryGridCell( const GridIndices &indices, T &cell ) const 00383 { return tryWorldCell( worldCoords(indices), cell); } 00384 00386 bool tryWorldCell( const WorldCoords &worldCoords, T &cell ) const 00387 { 00388 if ( !coordsWithinMap( worldCoords ) ) return false; 00389 cell = worldCell( worldCoords ); 00390 return true; 00391 } 00392 00394 int worldToIndexX( double worldX ) const 00395 { return metaData_.worldToIndexX(worldX); } 00396 int worldToIndexY( double worldY ) const 00397 { return metaData_.worldToIndexY(worldY); } 00398 00400 void reallocate( int numCellsX, int numCellsY ) 00401 { 00402 metaData_.numCellsX = numCellsX; 00403 metaData_.numCellsY = numCellsY; 00404 data_.resize( metaData_.numCellsX * metaData_.numCellsY ); 00405 } 00406 00408 void fill( const T &cellValue ) 00409 { 00410 std::fill( data_.begin(), data_.end(), cellValue ); 00411 } 00412 00413 00415 bool coordsWithinMap( double worldX, double worldY ) const 00416 { return coordsWithinMap(WorldCoords(worldX,worldY)); } 00418 bool coordsWithinMap( const WorldCoords &worldCoords ) const 00419 { return metaData_.coordsWithinMap(worldCoords); } 00420 00422 bool cellWithinMap( int gridX, int gridY ) const 00423 { return metaData_.cellWithinMap(gridX,gridY); } 00425 bool cellWithinMap( const GridIndices &gridIndices ) const 00426 { return metaData_.cellWithinMap(gridIndices); } 00427 00428 private: 00429 00430 // Describes the map's size and position in the world 00431 MetaData metaData_; 00432 // The values 00433 std::vector<T> data_; 00434 }; 00435 00436 template<typename T> 00437 SOEXPORT std::ostream &operator<<( std::ostream &s, const GenericMap<T> &o ) 00438 { 00439 s << " OgMap: " 00440 << o.metaData(); 00441 return s; 00442 } 00443 } 00444 00445 #endif
