vpScanPoint.h

/****************************************************************************
 *
 * $Id: vpScanPoint.h 4649 2014-02-07 14:57:11Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Single laser scanner point.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef vpScanPoint_h
#define vpScanPoint_h

#include <visp/vpMath.h>

#include <ostream>
#include <sstream>
#include <cmath>    // std::fabs
#include <limits>   // numeric_limits
#include <math.h>

class /* VISP_EXPORT */ vpScanPoint // Note that here VISP_EXPORT should not be added since this class is complete inline
{
 public:
    inline vpScanPoint() : rDist(0), hAngle(0), vAngle(0) {}
  inline vpScanPoint(const vpScanPoint &scanpoint) : rDist(0), hAngle(0), vAngle(0) {
    this->rDist = scanpoint.rDist;
    this->hAngle = scanpoint.hAngle;
    this->vAngle = scanpoint.vAngle;
  }
  inline vpScanPoint(double r_dist, double h_angle, double v_angle)
    : rDist(r_dist), hAngle(h_angle), vAngle(v_angle)
  {
    this->rDist = r_dist;
    this->hAngle = h_angle;
    this->vAngle = v_angle;
  }
  inline virtual ~vpScanPoint() {};
  inline void setPolar(double r_dist, double h_angle, double v_angle) {
    this->rDist = r_dist;
    this->hAngle = h_angle;
    this->vAngle = v_angle;
  }
  inline double getRadialDist() const {
    return ( this->rDist );
  }
  inline double getVAngle() const {
    return ( this->vAngle );
  }
  inline double getHAngle() const {
    return ( this->hAngle );
  }
  inline double getX() const {
    return ( rDist * cos(this->hAngle) * cos(this->vAngle)  );
  }
  inline double getY() const {
    return ( rDist * sin(this->hAngle) );
  }
  inline double getZ() const {
    return ( rDist * cos(this->hAngle) * sin(this->vAngle) );
  }
   
  friend inline std::ostream &operator << (std::ostream &s, const vpScanPoint &p);

   friend inline bool operator==( const vpScanPoint &sp1, 
                          const vpScanPoint &sp2 ) {
     //return ( ( sp1.getRadialDist() == sp2.getRadialDist() ) 
     //       && ( sp1.getHAngle() == sp2.getHAngle() )
     //       && ( sp1.getVAngle() == sp2.getVAngle() ) );
     double rd1 = sp1.getRadialDist();
     double ha1 = sp1.getHAngle();
     double va1 = sp1.getVAngle();
     double rd2 = sp2.getRadialDist();
     double ha2 = sp2.getHAngle();
     double va2 = sp2.getVAngle();

     return ( ( std::fabs(rd1 - rd2) <= std::fabs(vpMath::maximum(rd1,rd2)) * std::numeric_limits<double>::epsilon() ) 
          &&
          ( std::fabs(ha1 - ha2) <= std::fabs(vpMath::maximum(ha1,ha2)) * std::numeric_limits<double>::epsilon() )
          &&
          ( std::fabs(va1 - va2) <= std::fabs(vpMath::maximum(va1,va2)) * std::numeric_limits<double>::epsilon() ) );
   }
   
   friend inline bool operator!=( const vpScanPoint &sp1, 
                          const vpScanPoint &sp2 ) {
     //return ( ( sp1.getRadialDist() != sp2.getRadialDist() )
     //     || ( sp1.getHAngle() != sp2.getHAngle() )  
     //     || ( sp1.getVAngle() != sp2.getVAngle() ) );
     double rd1 = sp1.getRadialDist();
     double ha1 = sp1.getHAngle();
     double va1 = sp1.getVAngle();
     double rd2 = sp2.getRadialDist();
     double ha2 = sp2.getHAngle();
     double va2 = sp2.getVAngle();
     return ( ( std::fabs(rd1 - rd2) > std::fabs(vpMath::maximum(rd1,rd2)) * std::numeric_limits<double>::epsilon() )
          || 
          ( std::fabs(ha1 - ha2) <= std::fabs(vpMath::maximum(ha1,ha2)) * std::numeric_limits<double>::epsilon() )  
          || 
          ( std::fabs(va1 - va2) <= std::fabs(vpMath::maximum(va1,va2)) * std::numeric_limits<double>::epsilon() ) );
 }

 private:
   double rDist;
   double hAngle;
   double vAngle;
};

inline std::ostream &operator << (std::ostream &s, const vpScanPoint &p) {
  std::ios_base::fmtflags original_flags = s.flags();

  s.precision(10);
  s << p.getRadialDist() << " "
    << p.getHAngle() << " "
    << p.getVAngle() << " "
    << p.getX() << " "
    << p.getY() << " " << p.getZ();

  s.setf(original_flags); // restore s to standard state

  return s;
}

#endif