TPoint2D.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/math/TPoint2D.h>
#include <mrpt/math/TPoint3D.h>
#include <mrpt/math/TPose2D.h>
#include <mrpt/math/TPose3D.h>

namespace mrpt::math
{
static_assert(std::is_trivial_v<TPoint2D_data<float>>);
static_assert(std::is_trivial_v<TPoint2D_data<double>>);
static_assert(std::is_trivially_copyable_v<TPoint2D>);
static_assert(std::is_trivially_copyable_v<TPoint2Df>);

template <typename T>
TPoint2D_<T>::TPoint2D_(const TPose2D& p)
    : TPoint2D_data<T>{static_cast<T>(p.x), static_cast<T>(p.y)}
{
}

template <typename T>
TPoint2D_<T>::TPoint2D_(const TPoint3D_<T>& p) : TPoint2D_data<T>{p.x, p.y}
{
}

template <typename T>
TPoint2D_<T>::TPoint2D_(const TPose3D& p)
    : TPoint2D_data<T>{static_cast<T>(p.x), static_cast<T>(p.y)}
{
}

template <typename T>
bool TPoint2D_<T>::operator<(const TPoint2D_<T>& p) const
{
    if (this->x < p.x)
        return true;
    else if (this->x > p.x)
        return false;
    else
        return this->y < p.y;
}

template <typename T>
void TPoint2D_<T>::fromString(const std::string& s)
{
    CMatrixDynamic<T> m;
    if (!m.fromMatlabStringFormat(s))
        THROW_EXCEPTION("Malformed expression in ::fromString");
    ASSERTMSG_(
        m.rows() == 1 && m.cols() == 2, "Wrong size of vector in ::fromString");
    this->x = m(0, 0);
    this->y = m(0, 1);
}

// Explicit instantiations:
template struct TPoint2D_<float>;
template struct TPoint2D_<double>;
}  // namespace mrpt::math