CPolygon.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "base-precomp.h"  // Precompiled headers



#include <mrpt/math/CPolygon.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::utils;
using namespace std;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CPolygon, CSerializable, mrpt::math)


/*---------------------------------------------------------------
        Implements the writing to a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CPolygon::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 2;
        else
        {
                // The number of vertexs:
                const uint32_t n = (uint32_t)TPolygon2D::size();

                // Size:
                out << n;

                // Vertices:
                if (n)
                        out.WriteBufferFixEndianness<double>( (double*)&TPolygon2D::operator[](0), 2*n);
        }

}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CPolygon::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:  // floats
                {
                        // The number of vertexs:
                        uint32_t        i,n;
                        float           f;

                        // All elemental typed variables:
                        in >> n;
                        in >> f; //max_x=f;
                        in >> f; //max_y=f;
                        in >> f; //min_x=f;
                        in >> f; //min_y=f;
                        in >> f; //cx=f;
                        in >> f; //cy=f;

                        TPolygon2D::resize(n);

                        // The vertexs arrays:
                        for (i=0;i<n;i++) { in >> f; TPolygon2D::operator[](i).x = f;   }
                        for (i=0;i<n;i++) { in >> f; TPolygon2D::operator[](i).y = f;   }
                } break;

        case 1:
                {
                        // The number of vertexs:
                        uint32_t        n;
                        double dumm;

                        // All elemental typed variables:
                        in >> n >> dumm >> dumm >> dumm >> dumm >> dumm >> dumm;
                                //max_x >> max_y >> min_x >> min_y >> cx >> cy;

                        TPolygon2D::resize(n);

                        // The vertexs arrays:
                        for (size_t i=0;i<n;i++) { in >> dumm; TPolygon2D::operator[](i).x = dumm;      }
                        for (size_t i=0;i<n;i++) { in >> dumm; TPolygon2D::operator[](i).y = dumm;      }
                } break;
        case 2:
                {
                        // The number of vertexs:
                        uint32_t        n;

                        // All elemental typed variables:
                        in >> n;

                        TPolygon2D::resize(n);

                        // The vertexs arrays:
                        if (n>0)
                                in.ReadBufferFixEndianness<double>( (double*)&TPolygon2D::operator[](0), 2*n);
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}

/*---------------------------------------------------------------
        Set all vertices at once, not to be used normally.
  ---------------------------------------------------------------*/
void  CPolygon::setAllVertices( const std::vector<double> &x, const std::vector<double> &y )
{
        ASSERT_(x.size()==y.size() && !x.empty());
        setAllVertices( x.size() ,&x[0],&y[0] );
}

/*---------------------------------------------------------------
        Set all vertices at once, not to be used normally.
  ---------------------------------------------------------------*/
void  CPolygon::setAllVertices( size_t nVertices, const double *xs, const double *ys )
{
        // Resize:
        TPolygon2D::resize(nVertices);
        for (size_t i=0;i<nVertices;i++)
        {
                TPolygon2D::operator[](i).x = xs[i];
                TPolygon2D::operator[](i).y = ys[i];
        }
}


/*---------------------------------------------------------------
        Set all vertices at once, not to be used normally.
  ---------------------------------------------------------------*/
void  CPolygon::setAllVertices( size_t nVertices, const float *xs, const float *ys )
{
        // Resize:
        TPolygon2D::resize(nVertices);
        for (size_t i=0;i<nVertices;i++)
        {
                TPolygon2D::operator[](i).x = xs[i];
                TPolygon2D::operator[](i).y = ys[i];
        }
}

void  CPolygon::getAllVertices( std::vector<double> &x, std::vector<double> &y ) const
{
        // Resize:
        const size_t n = TPolygon2D::size();
        x.resize(n);
        y.resize(n);
        for (size_t i=0;i<n;i++)
        {
                x[i] = TPolygon2D::operator[](i).x;
                y[i] = TPolygon2D::operator[](i).y;
        }
}