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cell2d.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef ORCA2_CELL2D_H #define ORCA2_CELL2D_H #include <iostream> #include <vector> #include <list> namespace hydropathplan { class Cell2D { public: Cell2D( int x=0, int y=0); ~Cell2D() {}; int x() const; int y() const; void setX( const int x); void setY( const int y); void set( const int x, const int y); Cell2D & operator= ( const Cell2D & p );// { x_=p.x_; y_=p.y_; return *this; }; Cell2D & operator+= ( const Cell2D & ); Cell2D & operator-= ( const Cell2D & ); Cell2D & operator*= ( int ); Cell2D & operator/= ( int ); friend inline bool operator== ( const Cell2D &, const Cell2D & ); friend inline bool operator!= ( const Cell2D &, const Cell2D & ); friend inline const Cell2D operator+ ( const Cell2D &, const Cell2D & ); friend inline const Cell2D operator- ( const Cell2D &, const Cell2D & ); friend inline const Cell2D operator* ( const Cell2D &, int ); friend inline const Cell2D operator* ( int, const Cell2D & ); friend inline const Cell2D operator- ( const Cell2D & ); private: int x_; int y_; }; typedef std::vector<hydropathplan::Cell2D> Cell2DVector; typedef std::list<hydropathplan::Cell2D> Cell2DList; bool isIncluded( const Cell2DVector & C, const Cell2D & c ); bool isIncluded( const Cell2DList & C, const Cell2D & c ); /***************************************************************************** * Cell2D utility functions *****************************************************************************/ double euclideanDistance( const Cell2D c1, const Cell2D c2 ); int manhattanDistance( const Cell2D c1, const Cell2D c2 ); bool isAdjacentN( const Cell2D c1, const Cell2D c2, unsigned int N ); bool isNull( const Cell2D c ); /* index for adjacentCell and diagonalCell 0 0 1 3 [c] 1 3 2 2 index for surroundCell 7 0 4 3 [c] 1 6 2 5 */ Cell2D adjacentCell( const Cell2D & cell, const int i ); Cell2D diagonalCell( const Cell2D & cell, const int i ); Cell2D surroundCell( const Cell2D & cell, const int i ); std::ostream& operator<<( std::ostream &s, const Cell2D &obj ); /***************************************************************************** * Cell2D inline member functions *****************************************************************************/ inline Cell2D::Cell2D( int x, int y ) { x_ = x; y_ = y; } inline int Cell2D::Cell2D::x() const { return x_; } inline int Cell2D::Cell2D::y() const { return y_; } inline void Cell2D::setX( const int x ) { x_ = x; } inline void Cell2D::setY( const int y ) { y_ = y; } inline void Cell2D::set( const int x, const int y ) { x_ = x; y_ = y; } /***************************************************************************** * Cell2D arithmetic operator *****************************************************************************/ //members inline Cell2D & Cell2D::operator= ( const Cell2D & p ) { x_=p.x_; y_=p.y_; return *this; } inline Cell2D & Cell2D::operator+= ( const Cell2D &p ) { x_+=p.x_; y_+=p.y_; return *this; } inline Cell2D & Cell2D::operator-= ( const Cell2D &p ) { x_-=p.x_; y_-=p.y_; return *this; } inline Cell2D & Cell2D::operator*= ( int c ) { x_*=c; y_*=c; return *this; } inline Cell2D & Cell2D::operator/= (int c) { if(c==0) return *this; x_/=c; y_/=c; return *this; } //friends inline bool operator==( const Cell2D &p1, const Cell2D &p2 ) { return p1.x_ == p2.x_ && p1.y_ == p2.y_; } inline bool operator!=( const Cell2D &p1, const Cell2D &p2 ) { return p1.x_ != p2.x_ || p1.y_ != p2.y_; } inline const Cell2D operator+( const Cell2D &p1, const Cell2D &p2 ) { return Cell2D(p1.x_+p2.x_, p1.y_+p2.y_); } inline const Cell2D operator-( const Cell2D &p1, const Cell2D &p2 ) { return Cell2D(p1.x_-p2.x_, p1.y_-p2.y_); } inline const Cell2D operator*( const Cell2D &p, int c ) { return Cell2D(p.x_*c, p.y_*c); } inline const Cell2D operator*( int c, const Cell2D &p ) { return Cell2D(p.x_*c, p.y_*c); } inline const Cell2D operator-( const Cell2D &p ) { return Cell2D(-p.x_, -p.y_); } } #endif

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