sensor.h

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#ifndef SENSOR_H
#define SENSOR_H
#include "brat_math.h"
 
class ConfiguratorInterface;
class Configurator;
 
struct Pointf: public cv::Point2f{
 
    Pointf(){}
 
    Pointf(float _x, float _y){
        x=_x;
        y=_y;
    }
    
    Pointf operator+(const Pointf p){
            Pointf result;
            result.x = x + p.x;
            result.y = y+ p.y;
            return result;
    }
 
    Pointf operator-(const Pointf p){
            Pointf result;
            result.x = x - p.x;
            result.y = y- p.y;
            return result;
    }
 
    bool isin(Pointf, Pointf);
 
};
 
template<>
struct cv::traits::Depth<Pointf> {enum {value = Depth<cv::Point2f>::value};};
 
template<>
struct cv::traits::Type<Pointf> {enum {value = CV_MAKETYPE(cv::traits::Depth<Pointf>::value, 2)};};
 
float length(cv::Point2f const& p);
 
float angle(cv::Point2f const&);
 
bool operator <(Pointf const &, Pointf const&);
 
bool operator >(const Pointf&,  const Pointf&);
 
typedef std::set<Pointf> CoordinateContainer; 
b2Vec2 getb2Vec2(cv::Point2f );
 
template <typename T>
Pointf getPointf(T v){
    return Pointf(v.x, v.y);
}
 
Pointf Polar2f(float radius, float angle);
 
template <typename T>
std::vector<T> set2vec(std::set<T> s){
    std::vector <T> vec;
    for (T t:s){
        vec.emplace_back(t);
    }
    return vec;
}
 
template <typename T>
std::vector<cv::Point2f> set2vec2f(std::set<T> s){
    std::vector <cv::Point2f> vec;
    for (T t:s){
        vec.push_back(cv::Point2f(t.x, t.y));
    }
    return vec;
}
 
template <typename T> inline
std::vector<b2Vec2> cast_b2Vec2(const std::vector<T>& v){
    std::vector<b2Vec2> result;
    for (const T & t:v){
        result.push_back(b2Vec2(t.x, t.y));
    }
    return result;
}
 
template <typename T> inline
std::vector<cv::Point2f> cast_Point2f(const std::vector<T>& v){
    std::vector<cv::Point2f> result;
    for (const T & t:v){
        result.push_back(cv::Point2f(t.x, t.y));
    }
    return result;
 
}
 
template <typename T>
std::set<T> vec2set(std::vector<T> vec){
    std::set <T> set;
    for (T t:vec){
        set.emplace(t);
    }
    return set;
}
 
std::pair <bool, BodyFeatures> bounding_rotated_box(std::vector <cv::Point2f>nb);
 
template <typename Pt>
static b2PolygonShape sensor_box(const std::vector <Pt> &all_points_pt, b2Transform robot_pose, const Disturbance & dist){
    b2PolygonShape shape;
    b2Vec2 centroid(2.0, 2.0), center=centroid, center_local=b2Vec2_zero;
    float halfHeight=0, halfWidth=0;
    if (dist.isValid()){
    std::vector <b2Vec2>  d_vertices=dist.vertices(); 
    std::vector <cv::Point2f> all_points=cast_Point2f(all_points_pt);
    for (b2Vec2 p: d_vertices){
        p=b2MulT(robot_pose, p); //get local point
        all_points.push_back(cv::Point2f(p.x, p.y));
    }
    float minx=(std::min_element(all_points.begin(),all_points.end(), CompareX())).base()->x;
    float miny=(std::min_element(all_points.begin(), all_points.end(), CompareY())).base()->y;
    float maxx=(std::max_element(all_points.begin(), all_points.end(), CompareX())).base()->x;
    float maxy=(std::max_element(all_points.begin(), all_points.end(), CompareY())).base()->y;
    halfHeight=(fabs(maxy-miny))/2; //
    halfWidth=(fabs(maxx-minx))/2;
    center.x=maxx-halfWidth;
    center.y=maxy-halfHeight;
    centroid=center-center_local;  
    }
    shape.SetAsBox(halfWidth, halfHeight,centroid, 0);
    return shape;
 
}
 
template <class Pt>
std::pair<bool,BodyFeatures> bounding_box( std::vector <Pt >&nb){//gets bounding box of points
    float  l=(0.0005*2), w=(0.0005*2) ;
    float x_glob=0.0f, y_glob=0.0f;
    std::pair <bool, BodyFeatures> result(0, BodyFeatures());
    if (nb.empty()){
        return result;
    }
    CompareX compareX;
    CompareY compareY;
    typename std::vector<Pt>::iterator maxx=std::max_element(nb.begin(), nb.end(), compareX);
    typename std::vector<Pt>::iterator miny=std::min_element(nb.begin(), nb.end(), compareY);
    typename std::vector<Pt>::iterator minx=std::min_element(nb.begin(), nb.end(), compareX);
    typename std::vector<Pt>::iterator maxy=std::max_element(nb.begin(), nb.end(), compareY);
    if (minx->x!=maxx->x){
        w= fabs((*maxx).x-(*minx).x);
    }
    if (miny->y!=maxy->y){
        l=fabs((*maxy).y-(*miny).y);
    }
    x_glob= ((*maxx).x+(*minx).x)/2;
    y_glob= ((*maxy).y+(*miny).y)/2;
    result.second.halfLength=l/2;
    result.second.halfWidth=w/2;
    result.second.pose.p=b2Vec2(x_glob, y_glob);
    result.first=true;
    return result;
}
 
 
#endif