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/* * vim: ts=4 sw=4 et tw=0 wm=0 * * libavoid - Fast, Incremental, Object-avoiding Line Router * * Copyright (C) 2004-2009 Monash University * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * See the file LICENSE.LGPL distributed with the library. * * Licensees holding a valid commercial license may use this file in * accordance with the commercial license agreement provided with the * library. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * * Author(s): Michael Wybrow <mjwybrow@users.sourceforge.net> */ //! @file geomtypes.h //! @brief Contains the interface for various geometry types and classes. #ifndef AVOID_GEOMTYPES_H #define AVOID_GEOMTYPES_H #include <vector> #include <utility> namespace Avoid { //! @brief The Point class defines a point in the plane. //! //! Points consist of an x and y value. They may also have an ID and vertex //! number associated with them. //! 00045 class Point { public: //! @brief Default constructor. //! Point(); //! @brief Standard constructor. //! //! @param[in] xv The x position of the point. //! @param[in] yv The y position of the point. //! Point(const double xv, const double yv); //! @brief Comparison operator. Returns true if at same position. //! //! @param[in] rhs The point to compare with this one. //! @return The result of the comparison. //! bool operator==(const Point& rhs) const; //! @brief Comparison operator. Returns true if at different positions. //! //! @param[in] rhs The point to compare with this one. //! @return The result of the comparison. //! bool operator!=(const Point& rhs) const; //! @brief Comparison operator. Returns true if less-then rhs point. //! //! @note This operator is not particularly useful, but is defined //! to allow std::set<Point>. //! //! @param[in] rhs The point to compare with this one. //! @return The result of the comparison. //! bool operator<(const Point& rhs) const; //! @brief Returns the x or y value of the point, given the dimension. //! //! @param[in] dimension The dimension: 0 for x, 1 for y. //! @return The component of the point in that dimension. double& operator[](const unsigned int dimension); const double& operator[](const unsigned int dimension) const; //! The x position. 00088 double x; //! The y position. 00090 double y; //! The ID associated with this point. 00092 unsigned int id; //! The vertex number associated with this point. 00094 unsigned short vn; }; //! Constant value representing an unassigned vertex number. //! 00101 static const unsigned short kUnassignedVertexNumber = 8; //! @brief A vector, represented by the Point class. //! 00106 typedef Point Vector; //! @brief A common interface used by the Polygon classes. //! 00111 class PolygonInterface { public: //! @brief Constructor. 00115 PolygonInterface() { } //! @brief Destructor. 00117 virtual ~PolygonInterface() { } //! @brief Resets this to the empty polygon. virtual void clear(void) = 0; //! @brief Returns true if this polygon is empty. virtual bool empty(void) const = 0; //! @brief Returns the number of points in this polygon. virtual size_t size(void) const = 0; //! @brief Returns the ID value associated with this polygon. virtual int id(void) const = 0; //! @brief Returns a specific point in the polygon. //! @param[in] index The array index of the point to be returned. virtual const Point& at(size_t index) const = 0; //! @brief Returns the bounding rectangle that contains this polygon. //! //! If a NULL pointer is passed for any of the arguments, then that //! value is ignored and not returned. //! //! @param[out] minX The left hand side of the bounding box. //! @param[out] minY The top of the bounding box. //! @param[out] maxX The right hand side of the bounding box. //! @param[out] maxY The bottom of the bounding box. void getBoundingRect(double *minX, double *minY, double *maxX, double *maxY) const; }; //! @brief A line between two points. //! 00145 class Edge { public: //! The first point. 00149 Point a; //! The second point. 00151 Point b; }; //! @brief A bounding box, represented with an Edge between top-left and //! bottom-right corners. //! 00158 typedef Edge BBox; class Router; class ReferencingPolygon; //! @brief A dynamic Polygon, to which points can be easily added and removed. //! //! @note The Rectangle class can be used as an easy way of constructing a //! square or rectangular polygon. //! 00170 class Polygon : public PolygonInterface { public: //! @brief Constructs an empty polygon (with zero points). Polygon(); //! @brief Constructs a new polygon with n points. //! //! A rectangle would be comprised of four point. An n segment //! PolyLine (represented as a Polygon) would be comprised of n+1 //! points. Whether a particular Polygon is closed or not, depends //! on whether it is a Polygon or Polyline. Shape polygons are always //! considered to be closed, meaning the last point joins back to the //! first point. //! //! @param[in] n Number of points in the polygon. //! Polygon(const int n); //! @brief Constructs a new polygon from an existing Polygon. //! //! @param[in] poly An existing polygon to copy the new polygon from. //! Polygon(const PolygonInterface& poly); //! @brief Resets this to the empty polygon. void clear(void); //! @brief Returns true if this polygon is empty. bool empty(void) const; //! @brief Returns the number of points in this polygon. size_t size(void) const; //! @brief Returns the ID value associated with this polygon. int id(void) const; //! @brief Returns a specific point in the polygon. //! @param[in] index The array index of the point to be returned. const Point& at(size_t index) const; //! @brief Returns a simplified Polyline, where all collinear line //! segments have been collapsed down into single line //! segments. //! //! @return A new polyline with a simplified representation. //! Polygon simplify(void) const; //! @brief Returns a curved approximation of this multi-segment //! PolyLine, with the corners replaced by smooth Bezier //! curves. //! //! This function does not do any further obstacle avoidance with the //! curves produced. Hence, you would usually specify a curve_amount //! in similar size to the space buffer around obstacles in the scene. //! This way the curves will cut the corners around shapes but still //! run within this buffer space. //! //! @param curve_amount Describes the distance along the end of each //! line segment to turn into a curve. //! @param closed Describes whether the Polygon should be //! treated as closed. Defaults to false. //! @return A new polyline (polygon) representing the curved path. //! Its points represent endpoints of line segments and //! Bezier spline control points. The Polygon::ts vector for //! this returned polygon is populated with a character for //! each point describing its type. //! @sa ts Polygon curvedPolyline(const double curve_amount, const bool closed = false) const; //! @brief Translates the polygon position by a relative amount. //! //! @param[in] xDist Distance to move polygon in the x dimension. //! @param[in] yDist Distance to move polygon in the y dimension. void translate(const double xDist, const double yDist); //! @brief An ID for the polygon. 00239 int _id; //! @brief A vector of the points that make up the Polygon. 00241 std::vector<Point> ps; //! @brief If used, denotes whether the corresponding point in ps is //! a move-to operation or a Bezier curve-to. //! //! Each character describes the drawing operation for the //! corresponding point in the ps vector. Possible values are: //! - 'M': A moveto operation, marks the first point; //! - 'L': A lineto operation, is a line from the previous point to //! the current point; or //! - 'C': A curveto operation, three consecutive 'C' points //! (along with the previous point) describe the control points //! of a Bezier curve. //! - 'Z': Closes the path (used for cluster boundaries). //! //! @note This vector will currently only be populated for polygons //! returned by curvedPolyline(). 00257 std::vector<char> ts; }; //! @brief A multi-segment line, represented with the Polygon class. //! 00263 typedef Polygon PolyLine; //! @brief A Polygon which just references its points from other Polygons. //! //! This type of Polygon is used to accurately represent cluster boundaries //! made up from the corner points of shapes. //! 00271 class ReferencingPolygon : public PolygonInterface { public: ReferencingPolygon(); ReferencingPolygon(const Polygon& poly, const Router *router); void clear(void); bool empty(void) const; size_t size(void) const; int id(void) const; const Point& at(size_t index) const; int _id; std::vector<std::pair<const Polygon *, unsigned short> > ps; }; //! @brief A Rectangle, a simpler way to define the polygon for square or //! rectangular shapes. //! 00290 class Rectangle : public Polygon { public: //! @brief Constructs a rectangular polygon given two opposing //! corner points. //! //! @param[in] topLeft The first corner point of the rectangle. //! @param[in] bottomRight The opposing corner point of the rectangle. //! Rectangle(const Point& topLeft, const Point& bottomRight); //! @brief Constructs a rectangular polygon given the centre, width //! and height. //! //! @param[in] centre The centre of the rectangle, specified as //! a point. //! @param[in] width The width of the rectangle. //! @param[in] height The height of the rectangle. //! Rectangle(const Point& centre, const double width, const double height); }; } #endif

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