Visual Servoing Platform  version 3.6.1 under development (2024-12-13)
vpScanPoint.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Single laser scanner point.
33  *
34 *****************************************************************************/
35 
42 #ifndef vpScanPoint_h
43 #define vpScanPoint_h
44 
45 #include <visp3/core/vpConfig.h>
46 #include <visp3/core/vpMath.h>
47 
48 #include <cmath> // std::fabs
49 #include <limits> // numeric_limits
50 #include <math.h>
51 #include <ostream>
52 #include <sstream>
53 
54 BEGIN_VISP_NAMESPACE
73 class /* VISP_EXPORT */ vpScanPoint // Note that here VISP_EXPORT should not
74  // be added since this class is complete
75  // inline
76 {
77 public:
79  inline vpScanPoint() : rDist(0), hAngle(0), vAngle(0) { }
81  inline vpScanPoint(const vpScanPoint &scanpoint) : rDist(0), hAngle(0), vAngle(0)
82  {
83  this->rDist = scanpoint.rDist;
84  this->hAngle = scanpoint.hAngle;
85  this->vAngle = scanpoint.vAngle;
86  }
93  inline vpScanPoint(double r_dist, double h_angle, double v_angle) : rDist(r_dist), hAngle(h_angle), vAngle(v_angle)
94  {
95  this->rDist = r_dist;
96  this->hAngle = h_angle;
97  this->vAngle = v_angle;
98  }
100  inline virtual ~vpScanPoint() { };
107  inline void setPolar(double r_dist, double h_angle, double v_angle)
108  {
109  this->rDist = r_dist;
110  this->hAngle = h_angle;
111  this->vAngle = v_angle;
112  }
116  inline double getRadialDist() const { return (this->rDist); }
120  inline double getVAngle() const { return (this->vAngle); }
124  inline double getHAngle() const { return (this->hAngle); }
132  inline double getX() const { return (rDist * cos(this->hAngle) * cos(this->vAngle)); }
140  inline double getY() const { return (rDist * sin(this->hAngle)); }
147  inline double getZ() const { return (rDist * cos(this->hAngle) * sin(this->vAngle)); }
148 
149 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
150  vpScanPoint &operator=(const vpScanPoint &) = default;
151 #endif
152 
153  friend inline std::ostream &operator<<(std::ostream &s, const vpScanPoint &p);
154 
160  friend inline bool operator==(const vpScanPoint &sp1, const vpScanPoint &sp2)
161  {
162  double rd1 = sp1.getRadialDist();
163  double ha1 = sp1.getHAngle();
164  double va1 = sp1.getVAngle();
165  double rd2 = sp2.getRadialDist();
166  double ha2 = sp2.getHAngle();
167  double va2 = sp2.getVAngle();
168 
169  return ((std::fabs(rd1 - rd2) <= std::fabs(vpMath::maximum(rd1, rd2)) * std::numeric_limits<double>::epsilon()) &&
170  (std::fabs(ha1 - ha2) <= std::fabs(vpMath::maximum(ha1, ha2)) * std::numeric_limits<double>::epsilon()) &&
171  (std::fabs(va1 - va2) <= std::fabs(vpMath::maximum(va1, va2)) * std::numeric_limits<double>::epsilon()));
172  }
173 
179  friend inline bool operator!=(const vpScanPoint &sp1, const vpScanPoint &sp2)
180  {
181  // return ( ( sp1.getRadialDist() != sp2.getRadialDist() )
182  // || ( sp1.getHAngle() != sp2.getHAngle() )
183  // || ( sp1.getVAngle() != sp2.getVAngle() ) );
184  double rd1 = sp1.getRadialDist();
185  double ha1 = sp1.getHAngle();
186  double va1 = sp1.getVAngle();
187  double rd2 = sp2.getRadialDist();
188  double ha2 = sp2.getHAngle();
189  double va2 = sp2.getVAngle();
190  return ((std::fabs(rd1 - rd2) > std::fabs(vpMath::maximum(rd1, rd2)) * std::numeric_limits<double>::epsilon()) ||
191  (std::fabs(ha1 - ha2) <= std::fabs(vpMath::maximum(ha1, ha2)) * std::numeric_limits<double>::epsilon()) ||
192  (std::fabs(va1 - va2) <= std::fabs(vpMath::maximum(va1, va2)) * std::numeric_limits<double>::epsilon()));
193  }
194 
195 private:
196  double rDist;
197  double hAngle;
198  double vAngle;
199 };
200 
242 inline std::ostream &operator<<(std::ostream &s, const vpScanPoint &p)
243 {
244  std::ios_base::fmtflags original_flags = s.flags();
245 
246  s.precision(10);
247  s << p.getRadialDist() << " " << p.getHAngle() << " " << p.getVAngle() << " " << p.getX() << " " << p.getY() << " "
248  << p.getZ();
249 
250  s.setf(original_flags); // restore s to standard state
251 
252  return s;
253 }
254 END_VISP_NAMESPACE
255 #endif
friend std::ostream & operator<<(std::ostream &s, const vpArray2D< Type > &A)
Definition: vpArray2D.h:614
static Type maximum(const Type &a, const Type &b)
Definition: vpMath.h:254
Class that defines a single laser scanner point.
Definition: vpScanPoint.h:76
double getX() const
Definition: vpScanPoint.h:132
virtual ~vpScanPoint()
Definition: vpScanPoint.h:100
friend bool operator!=(const vpScanPoint &sp1, const vpScanPoint &sp2)
Definition: vpScanPoint.h:179
friend std::ostream & operator<<(std::ostream &s, const vpScanPoint &p)
Definition: vpScanPoint.h:242
vpScanPoint & operator=(const vpScanPoint &)=default
vpScanPoint(double r_dist, double h_angle, double v_angle)
Definition: vpScanPoint.h:93
double getVAngle() const
Definition: vpScanPoint.h:120
double getZ() const
Definition: vpScanPoint.h:147
void setPolar(double r_dist, double h_angle, double v_angle)
Definition: vpScanPoint.h:107
double getY() const
Definition: vpScanPoint.h:140
vpScanPoint(const vpScanPoint &scanpoint)
Definition: vpScanPoint.h:81
double getRadialDist() const
Definition: vpScanPoint.h:116
double getHAngle() const
Definition: vpScanPoint.h:124
friend bool operator==(const vpScanPoint &sp1, const vpScanPoint &sp2)
Definition: vpScanPoint.h:160