Map2DPath.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
 
#include <yarp/dev/Map2DPath.h>
#include <yarp/os/ConnectionReader.h>
#include <yarp/os/ConnectionWriter.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
#include <cassert>
#include <functional>
#include <math.h>
 
using namespace yarp::dev;
using namespace yarp::dev::Nav2D;
using namespace yarp::sig;
using namespace yarp::os;
using namespace yarp::math;
 
bool Map2DPath::operator!=(const Map2DPath& r) const
{
    for (size_t i = 0; i < waypoints.size(); i++) {
        if (this->waypoints[i].map_id == r.waypoints[i].map_id || this->waypoints[i].x == r.waypoints[i].x || this->waypoints[i].y == r.waypoints[i].y || this->waypoints[i].theta == r.waypoints[i].theta) {
            return false;
        }
    }
    return true;
}
 
bool Map2DPath::operator==(const Map2DPath& r) const
{
    for (size_t i = 0; i < waypoints.size(); i++) {
        if (this->waypoints[i].map_id != r.waypoints[i].map_id || this->waypoints[i].x != r.waypoints[i].x || this->waypoints[i].y != r.waypoints[i].y || this->waypoints[i].theta != r.waypoints[i].theta) {
            return false;
        }
    }
    return true;
}
 
std::string Map2DPath::toString() const
{
    std::ostringstream stringStream;
    stringStream.precision(2);
    //stringStream.width(0);
    for (size_t i = 0; i < waypoints.size(); i++)
    {
        stringStream << " waypoint " << i << "(" << waypoints[i].map_id << " " << waypoints[i].x << "," << waypoints[i].y << "," << waypoints[i].theta << ")";
    }
    stringStream << " desc: " << description;
    return stringStream.str();
}
 
void Map2DPath::clear()
{
    this->waypoints.clear();
    description = "";
}
 
Map2DPath::Map2DPath(const std::vector<Map2DLocation>& map_waypoints, const std::string& desc)
{
    description = desc;
    for (const auto& map_waypoint : map_waypoints)
    {
        waypoints.push_back(map_waypoint);
    }
}
 
Map2DPath::Map2DPath()
{
}
 
Map2DLocation &Map2DPath::operator[](size_t index)
{
    return waypoints[index];
}
 
size_t Map2DPath::size() const
{
    return this->waypoints.size();
}
 
double Map2DPath::getLength() const
{
    double ll = 0;
    for (auto it = waypoints.begin(); it != waypoints.end(); it++)
    {
        ll += sqrt(pow(it->x,2)+ pow(it->y,2));
    }
    return ll;
}
 
bool Map2DPath::isOnSingleMap() const
{
    if (waypoints.size() == 0) {
        return true;
    }
    std::string mapname = waypoints[0].map_id;
    for (auto it = waypoints.begin(); it != waypoints.end(); it++)
    {
        if (it->map_id != mapname) {
            return false;
        }
    }
    return true;
}
 
Map2DPath::iterator Map2DPath::begin() noexcept
{
    return waypoints.begin();
}
 
 
Map2DPath::iterator Map2DPath::end() noexcept
{
    return waypoints.end();
}
 
Map2DPath::const_iterator Map2DPath::cbegin() const noexcept
{
    return waypoints.cbegin();
}
 
Map2DPath::const_iterator Map2DPath::cend() const noexcept
{
    return waypoints.cend();
}
 
void Map2DPath::push_back(yarp::dev::Nav2D::Map2DLocation loc)
{
    waypoints.push_back(loc);
}