vec2d.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <cmath>
#include <string>
 
namespace apollo {
namespace common {
namespace math {
 
constexpr double kMathEpsilon = 1e-10;
 
class Vec2d {
 public:
  constexpr Vec2d(const double x, const double y) noexcept : x_(x), y_(y) {}
 
  constexpr Vec2d() noexcept : Vec2d(0, 0) {}
 
  static Vec2d CreateUnitVec2d(const double angle);
 
  double x() const { return x_; }
 
  double y() const { return y_; }
 
  void set_x(const double x) { x_ = x; }
 
  void set_y(const double y) { y_ = y; }
 
  double Length() const;
 
  double LengthSquare() const;
 
  double Angle() const;
 
  void Normalize();
 
  double DistanceTo(const Vec2d &other) const;
 
  double DistanceSquareTo(const Vec2d &other) const;
 
  double CrossProd(const Vec2d &other) const;
 
  double InnerProd(const Vec2d &other) const;
 
  Vec2d rotate(const double angle) const;
 
  void SelfRotate(const double angle);
 
  Vec2d operator+(const Vec2d &other) const;
 
  Vec2d operator-(const Vec2d &other) const;
 
  Vec2d operator*(const double ratio) const;
 
  Vec2d operator/(const double ratio) const;
 
  Vec2d &operator+=(const Vec2d &other);
 
  Vec2d &operator-=(const Vec2d &other);
 
  Vec2d &operator*=(const double ratio);
 
  Vec2d &operator/=(const double ratio);
 
  bool operator==(const Vec2d &other) const;
 
  std::string DebugString() const;
 
 protected:
  double x_ = 0.0;
  double y_ = 0.0;
};
 
Vec2d operator*(const double ratio, const Vec2d &vec);
 
}  // namespace math
}  // namespace common
}  // namespace apollo