TObject2D.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/TLine2D.h>
#include <mrpt/math/TPoint2D.h>
#include <mrpt/math/TPolygon2D.h>
#include <mrpt/math/TPoseOrPoint.h>
#include <mrpt/math/TSegment2D.h>

namespace mrpt::math
{
/**
 * Standard type for storing any lightweight 2D type. Do not inherit from this
 * class.
 * \sa TPoint2D,TSegment2D,TLine2D,TPolygon2D
 */
struct TObject2D
{
   private:
    /**
     * Object type identifier.
     */
    unsigned char type{GEOMETRIC_TYPE_UNDEFINED};
    /**
     * Union type storing pointers to every allowed type.
     */
    struct tobject2d_data_t
    {
        TPoint2D point;
        TSegment2D segment;
        TLine2D line;
        TPolygon2D* polygon{nullptr};

        tobject2d_data_t() = default;
    } data;
    /**
     * Destroys the object, releasing the pointer to the content (if any).
     */
    void destroy()
    {
        if (type == GEOMETRIC_TYPE_POLYGON) delete data.polygon;
        type = GEOMETRIC_TYPE_UNDEFINED;
    }

   public:
    /**
     * Implicit constructor from point.
     */
    TObject2D(const TPoint2D& p) : type(GEOMETRIC_TYPE_POINT)
    {
        data.point = p;
    }
    /**
     * Implicit constructor from segment.
     */
    TObject2D(const TSegment2D& s) : type(GEOMETRIC_TYPE_SEGMENT)
    {
        data.segment = s;
    }
    /**
     * Implicit constructor from line.
     */
    TObject2D(const TLine2D& r) : type(GEOMETRIC_TYPE_LINE) { data.line = r; }
    /**
     * Implicit constructor from polygon.
     */
    TObject2D(const TPolygon2D& p) : type(GEOMETRIC_TYPE_POLYGON)
    {
        data.polygon = new TPolygon2D(p);
    }
    /**
     * Implicit constructor from polygon.
     */
    TObject2D() : type(GEOMETRIC_TYPE_UNDEFINED) {}
    /**
     * Object destruction.
     */
    ~TObject2D() { destroy(); }
    /**
     * Checks whether content is a point.
     */
    bool isPoint() const { return type == GEOMETRIC_TYPE_POINT; }
    /**
     * Checks whether content is a segment.
     */
    bool isSegment() const { return type == GEOMETRIC_TYPE_SEGMENT; }
    /**
     * Checks whether content is a line.
     */
    bool isLine() const { return type == GEOMETRIC_TYPE_LINE; }
    /**
     * Checks whether content is a polygon.
     */
    bool isPolygon() const { return type == GEOMETRIC_TYPE_POLYGON; }
    /**
     * Gets content type.
     */
    unsigned char getType() const { return type; }
    /**
     * Gets the content as a point, returning false if the type is inadequate.
     */
    bool getPoint(TPoint2D& p) const
    {
        if (isPoint())
        {
            p = data.point;
            return true;
        }
        else
            return false;
    }
    /**
     * Gets the content as a segment, returning false if the type is
     * inadequate.
     */
    bool getSegment(TSegment2D& s) const
    {
        if (isSegment())
        {
            s = data.segment;
            return true;
        }
        else
            return false;
    }
    /**
     * Gets the content as a line, returning false if the type is inadequate.
     */
    bool getLine(TLine2D& r) const
    {
        if (isLine())
        {
            r = data.line;
            return true;
        }
        else
            return false;
    }
    /**
     * Gets the content as a polygon, returning false if the type is
     * inadequate.
     */
    bool getPolygon(TPolygon2D& p) const
    {
        if (isPolygon())
        {
            p = *(data.polygon);
            return true;
        }
        else
            return false;
    }
    /**
     * Assign another TObject2D. Pointers are not shared.
     */
    TObject2D& operator=(const TObject2D& obj)
    {
        if (this == &obj) return *this;
        destroy();
        switch (type = obj.type)
        {
            case GEOMETRIC_TYPE_POINT:
                data.point = obj.data.point;
                break;
            case GEOMETRIC_TYPE_SEGMENT:
                data.segment = obj.data.segment;
                break;
            case GEOMETRIC_TYPE_LINE:
                data.line = obj.data.line;
                break;
            case GEOMETRIC_TYPE_POLYGON:
                data.polygon = new TPolygon2D(*(obj.data.polygon));
                break;
        }
        return *this;
    }
    /**
     * Assign a point to this object.
     */
    void operator=(const TPoint2D& p)
    {
        destroy();
        type = GEOMETRIC_TYPE_POINT;
        data.point = p;
    }
    /**
     * Assign a segment to this object.
     */
    void operator=(const TSegment2D& s)
    {
        destroy();
        type = GEOMETRIC_TYPE_SEGMENT;
        data.segment = s;
    }
    /**
     * Assign a line to this object.
     */
    void operator=(const TLine2D& l)
    {
        destroy();
        type = GEOMETRIC_TYPE_LINE;
        data.line = l;
    }
    /**
     * Assign a polygon to this object.
     */
    void operator=(const TPolygon2D& p)
    {
        destroy();
        type = GEOMETRIC_TYPE_POLYGON;
        data.polygon = new TPolygon2D(p);
    }
    /**
     * Project into 3D space.
     */
    void generate3DObject(TObject3D& obj) const;
    /**
     * Constructor from another TObject2D.
     */
    TObject2D(const TObject2D& obj) : type(GEOMETRIC_TYPE_UNDEFINED)
    {
        operator=(obj);
    }
    /**
     * Static method to retrieve all the points in a vector of TObject2D.
     */
    static void getPoints(
        const std::vector<TObject2D>& objs, std::vector<TPoint2D>& pnts);
    /**
     * Static method to retrieve all the segments in a vector of TObject2D.
     */
    static void getSegments(
        const std::vector<TObject2D>& objs, std::vector<TSegment2D>& sgms);
    /**
     * Static method to retrieve all the lines in a vector of TObject2D.
     */
    static void getLines(
        const std::vector<TObject2D>& objs, std::vector<TLine2D>& lins);
    /**
     * Static method to retrieve all the polygons in a vector of TObject2D.
     */
    static void getPolygons(
        const std::vector<TObject2D>& objs, std::vector<TPolygon2D>& polys);
    /**
     * Static method to retrieve all the points in a vector of TObject2D,
     * returning the remainder objects in another parameter.
     */
    static void getPoints(
        const std::vector<TObject2D>& objs, std::vector<TPoint2D>& pnts,
        std::vector<TObject2D>& remainder);
    /**
     * Static method to retrieve all the segments in a vector of TObject2D,
     * returning the remainder objects in another parameter.
     */
    static void getSegments(
        const std::vector<TObject2D>& objs, std::vector<TSegment2D>& sgms,
        std::vector<TObject2D>& remainder);
    /**
     * Static method to retrieve all the lines in a vector of TObject2D,
     * returning the remainder objects in another parameter.
     */
    static void getLines(
        const std::vector<TObject2D>& objs, std::vector<TLine2D>& lins,
        std::vector<TObject2D>& remainder);
    /**
     * Static method to retrieve all the polygons in a vector of TObject2D,
     * returning the remainder objects in another parameter.
     */
    static void getPolygons(
        const std::vector<TObject2D>& objs, std::vector<TPolygon2D>& polys,
        std::vector<TObject2D>& remainder);
};

mrpt::serialization::CArchive& operator>>(
    mrpt::serialization::CArchive& in, mrpt::math::TObject2D& o);
mrpt::serialization::CArchive& operator<<(
    mrpt::serialization::CArchive& out, const mrpt::math::TObject2D& o);

}  // namespace mrpt::math

namespace mrpt::typemeta
{
// Specialization must occur in the same namespace
MRPT_DECLARE_TTYPENAME_NO_NAMESPACE(TObject2D, mrpt::math)
}  // namespace mrpt::typemeta