Eclipse SUMO - Simulation of Urban MObility
Loading...
Searching...
No Matches
PositionVector.h
Go to the documentation of this file.
1/****************************************************************************/
2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3// Copyright (C) 2001-2023 German Aerospace Center (DLR) and others.
4// This program and the accompanying materials are made available under the
5// terms of the Eclipse Public License 2.0 which is available at
6// https://www.eclipse.org/legal/epl-2.0/
7// This Source Code may also be made available under the following Secondary
8// Licenses when the conditions for such availability set forth in the Eclipse
9// Public License 2.0 are satisfied: GNU General Public License, version 2
10// or later which is available at
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
20// A list of positions
21/****************************************************************************/
22#pragma once
23#include <config.h>
24
25#include <vector>
26#include <limits>
27#include "AbstractPoly.h"
28
29
30// ===========================================================================
31// class declarations
32// ===========================================================================
33
34class Boundary;
35
36// ===========================================================================
37// class definitions
38// ===========================================================================
43class PositionVector : public AbstractPoly, private std::vector<Position> {
44
45private:
47 typedef std::vector<Position> vp;
48
49public:
52
55 PositionVector(const std::vector<Position>& v);
56
60 PositionVector(const std::vector<Position>::const_iterator beg, const std::vector<Position>::const_iterator end);
61
65 PositionVector(const Position& p1, const Position& p2);
66
69
71 static const PositionVector EMPTY;
72
76 using vp::iterator;
77
79 using vp::const_iterator;
80
82 using vp::const_reference;
83
85 using vp::value_type;
86
88 using vp::begin;
89
91 using vp::end;
92
94 using vp::push_back;
95
97 using vp::pop_back;
98
100 using vp::clear;
101
103 using vp::size;
104
106 using vp::front;
107
109 using vp::back;
110
112 using vp::reference;
113
115 using vp::erase;
116
118 using vp::insert;
120
123 bool around(const Position& p, double offset = 0) const;
124
127 bool overlapsWith(const AbstractPoly& poly, double offset = 0) const;
128
130 double getOverlapWith(const PositionVector& poly, double zThreshold) const;
131
133 bool intersects(const Position& p1, const Position& p2) const;
134
136 bool intersects(const PositionVector& v1) const;
137
139 Position intersectionPosition2D(const Position& p1, const Position& p2, const double withinDist = 0.) const;
140
142 std::vector<double> intersectsAtLengths2D(const PositionVector& other) const;
143
145 std::vector<double> intersectsAtLengths2D(const Position& lp1, const Position& lp2) const;
146
149
151 void closePolygon();
152
155 const Position& operator[](int index) const;
156
159 Position& operator[](int index);
160
162 Position positionAtOffset(double pos, double lateralOffset = 0) const;
163
165 Position positionAtOffset2D(double pos, double lateralOffset = 0) const;
166
167 /* @brief Returns position similar to positionAtOffset but instead of applying the
168 * lateral offset orthogonal to the shape, apply it orthogonal to the given angle */
169 Position sidePositionAtAngle(double pos, double lateralOffset, double angle) const;
170
172 double rotationAtOffset(double pos) const;
173
175 double rotationDegreeAtOffset(double pos) const;
176
178 double slopeDegreeAtOffset(double pos) const;
179
181 static Position positionAtOffset(const Position& p1, const Position& p2, double pos, double lateralOffset = 0.);
182
184 static Position positionAtOffset2D(const Position& p1, const Position& p2, double pos, double lateralOffset = 0.);
185
186 /* @brief Returns position similar to positionAtOffset but instead of applying the
187 * lateral offset orthogonal to the shape, apply it orthogonal to the given angle */
188 static Position sidePositionAtAngle(const Position& p1, const Position& p2, double pos, double lateralOffset, double angle);
189
191 Boundary getBoxBoundary() const;
192
196
198 Position getCentroid() const;
199
201 void scaleRelative(double factor);
202
204 void scaleAbsolute(double offset);
205
207 Position getLineCenter() const;
208
210 double length() const;
211
213 double length2D() const;
214
216 double area() const;
217
219 bool partialWithin(const AbstractPoly& poly, double offset = 0) const;
220
222 std::pair<PositionVector, PositionVector> splitAt(double where, bool use2D = false) const;
223
225 friend std::ostream& operator<<(std::ostream& os, const PositionVector& geom);
226
228 bool crosses(const Position& p1, const Position& p2) const;
229
231 void add(double xoff, double yoff, double zoff);
232
234 void add(const Position& offset);
235
237 void sub(const Position& offset);
238
240 PositionVector added(const Position& offset) const;
241
243 void mirrorX();
244
246 void rotate2D(double angle);
247
249 void append(const PositionVector& v, double sameThreshold = 2.0);
250
252 void prepend(const PositionVector& v, double sameThreshold = 2.0);
253
255 PositionVector getSubpart(double beginOffset, double endOffset) const;
256
258 PositionVector getSubpart2D(double beginOffset, double endOffset) const;
259
261 PositionVector getSubpartByIndex(int beginIndex, int count) const;
262
264 void sortAsPolyCWByAngle();
265
267 void sortByIncreasingXY();
268
270 void extrapolate(const double val, const bool onlyFirst = false, const bool onlyLast = false);
271
273 void extrapolate2D(const double val, const bool onlyFirst = false);
274
276 PositionVector reverse() const;
277
279 static Position sideOffset(const Position& beg, const Position& end, const double amount);
280
282 void move2side(double amount, double maxExtension = 100);
283
285 void move2sideCustom(std::vector<double> amount, double maxExtension = 100);
286
288 double angleAt2D(int pos) const;
289
295 int insertAtClosest(const Position& p, bool interpolateZ);
296
298 int removeClosest(const Position& p);
299
301 bool operator==(const PositionVector& v2) const;
302
304 bool operator!=(const PositionVector& v2) const;
305
307 PositionVector operator-(const PositionVector& v2) const;
308
310 PositionVector operator+(const PositionVector& v2) const;
311
314 public:
317
319 int operator()(const Position& p1, const Position& p2) const;
320 };
321
324 public:
326 explicit increasing_x_y_sorter();
327
329 int operator()(const Position& p1, const Position& p2) const;
330 };
331
334 double isLeft(const Position& P0, const Position& P1, const Position& P2) const;
335
337 double beginEndAngle() const;
338
340 double nearest_offset_to_point2D(const Position& p, bool perpendicular = true) const;
341
343 double nearest_offset_to_point25D(const Position& p, bool perpendicular = true) const;
344
352 Position transformToVectorCoordinates(const Position& p, bool extend = false) const;
353
354 /* @brief index of the closest position to p
355 * @in twoD whether all positions should be projected onto the plan
356 @note: may only be called for a non-empty vector
357 */
358 int indexOfClosest(const Position& p, bool twoD = false) const;
359
362 std::vector<double> distances(const PositionVector& s, bool perpendicular = false) const;
363
365 double distance2D(const Position& p, bool perpendicular = false) const;
366
368 void push_front(const Position& p);
369
371 void pop_front();
372
374 void push_back_noDoublePos(const Position& p);
375
377 void push_front_noDoublePos(const Position& p);
378
380 void insert_noDoublePos(const std::vector<Position>::iterator& at, const Position& p);
381
383 bool isClosed() const;
384
386 bool isNAN() const;
387
392 void removeDoublePoints(double minDist = POSITION_EPS, bool assertLength = false, int beginOffset = 0, int endOffset = 0, bool resample = false);
393
395 bool hasElevation() const;
396
399
407 PositionVector getOrthogonal(const Position& p, double extend, bool before, double length = 1.0, double deg = 90) const;
408
410 PositionVector smoothedZFront(double dist = std::numeric_limits<double>::max()) const;
411
413 PositionVector interpolateZ(double zStart, double zEnd) const;
414
419 PositionVector resample(double maxLength, const bool adjustEnd) const;
420
422 double offsetAtIndex2D(int index) const;
423
424 /* @brief return the maximum grade of all segments as a fraction of zRange/length2D
425 * @param[out] maxJump The maximum vertical jump (with grade infinity)
426 */
427 double getMaxGrade(double& maxJump) const;
428
430 bool almostSame(const PositionVector& v2, double maxDiv = POSITION_EPS) const;
431
433 PositionVector bezier(int numPoints);
434
435 static double localAngle(const Position& from, const Position& pos, const Position& to);
436
437private:
439 static bool intersects(const Position& p11, const Position& p12, const Position& p21, const Position& p22, const double withinDist = 0., double* x = 0, double* y = 0, double* mu = 0);
440};
A class that stores a 2D geometrical boundary.
Definition Boundary.h:39
A point in 2D or 3D with translation and scaling methods.
Definition Position.h:37
int operator()(const Position &p1, const Position &p2) const
comparing operation for sort
clase for increasing Sorter
int operator()(const Position &p1, const Position &p2) const
comparing operation
A list of positions.
PositionVector operator-(const PositionVector &v2) const
subtracts two vectors (requires vectors of the same length)
void scaleAbsolute(double offset)
enlarges/shrinks the polygon by an absolute offset based at the centroid
double length2D() const
Returns the length.
void append(const PositionVector &v, double sameThreshold=2.0)
bool overlapsWith(const AbstractPoly &poly, double offset=0) const
Returns the information whether the given polygon overlaps with this.
PositionVector added(const Position &offset) const
double isLeft(const Position &P0, const Position &P1, const Position &P2) const
get left
double beginEndAngle() const
returns the angle in radians of the line connecting the first and the last position
double length() const
Returns the length.
void move2sideCustom(std::vector< double > amount, double maxExtension=100)
move position vector to side using a custom offset for each geometry point
void sortAsPolyCWByAngle()
sort as polygon CW by angle
PositionVector simplified() const
return the same shape with intermediate colinear points removed
void rotate2D(double angle)
PositionVector()
Constructor. Creates an empty position vector.
Position getPolygonCenter() const
Returns the arithmetic of all corner points.
Position intersectionPosition2D(const Position &p1, const Position &p2, const double withinDist=0.) const
Returns the position of the intersection.
const Position & operator[](int index) const
returns the constant position at the given index, negative indices are interpreted python style
double rotationAtOffset(double pos) const
Returns the rotation at the given length.
std::vector< Position > vp
vector of position
void push_front_noDoublePos(const Position &p)
insert in front a non double position
bool operator!=(const PositionVector &v2) const
comparing operation
PositionVector resample(double maxLength, const bool adjustEnd) const
resample shape (i.e. transform to segments, equal spacing)
void sortByIncreasingXY()
sort by increasing X-Y Positions
double rotationDegreeAtOffset(double pos) const
Returns the rotation at the given length.
bool isNAN() const
check if PositionVector is NAN
Position positionAtOffset(double pos, double lateralOffset=0) const
Returns the position at the given length.
void add(double xoff, double yoff, double zoff)
void closePolygon()
ensures that the last position equals the first
static Position sideOffset(const Position &beg, const Position &end, const double amount)
get a side position of position vector using a offset
std::vector< double > intersectsAtLengths2D(const PositionVector &other) const
For all intersections between this vector and other, return the 2D-length of the subvector from this ...
friend std::ostream & operator<<(std::ostream &os, const PositionVector &geom)
double distance2D(const Position &p, bool perpendicular=false) const
closest 2D-distance to point p (or -1 if perpendicular is true and the point is beyond this vector)
void prepend(const PositionVector &v, double sameThreshold=2.0)
double nearest_offset_to_point2D(const Position &p, bool perpendicular=true) const
return the nearest offest to point 2D
std::vector< double > distances(const PositionVector &s, bool perpendicular=false) const
distances of all my points to s and all of s points to myself
PositionVector getOrthogonal(const Position &p, double extend, bool before, double length=1.0, double deg=90) const
return orthogonal through p (extending this vector if necessary)
int indexOfClosest(const Position &p, bool twoD=false) const
std::pair< PositionVector, PositionVector > splitAt(double where, bool use2D=false) const
Returns the two lists made when this list vector is splitted at the given point.
void move2side(double amount, double maxExtension=100)
move position vector to side using certain ammount
bool almostSame(const PositionVector &v2, double maxDiv=POSITION_EPS) const
check if the two vectors have the same length and pairwise similar positions
bool crosses(const Position &p1, const Position &p2) const
Returns whether the AbstractPoly crosses the given line.
PositionVector getSubpart2D(double beginOffset, double endOffset) const
get subpart of a position vector in two dimensions (Z is ignored)
PositionVector interpolateZ(double zStart, double zEnd) const
returned vector that varies z smoothly over its length
Boundary getBoxBoundary() const
Returns a boundary enclosing this list of lines.
double offsetAtIndex2D(int index) const
return the offset at the given index
PositionVector smoothedZFront(double dist=std::numeric_limits< double >::max()) const
returned vector that is smoothed at the front (within dist)
double angleAt2D(int pos) const
get angle in certain position of position vector
void insert_noDoublePos(const std::vector< Position >::iterator &at, const Position &p)
insert in front a non double position
double slopeDegreeAtOffset(double pos) const
Returns the slope at the given length.
bool hasElevation() const
return whether two positions differ in z-coordinate
static const PositionVector EMPTY
empty Vector
void extrapolate(const double val, const bool onlyFirst=false, const bool onlyLast=false)
extrapolate position vector
PositionVector bezier(int numPoints)
return a bezier interpolation
Position getLineCenter() const
get line center
Position getCentroid() const
Returns the centroid (closes the polygon if unclosed)
double getOverlapWith(const PositionVector &poly, double zThreshold) const
Returns the maximum overlaps between this and the given polygon (when not separated by at least zThre...
PositionVector operator+(const PositionVector &v2) const
adds two vectors (requires vectors of the same length)
void extrapolate2D(const double val, const bool onlyFirst=false)
extrapolate position vector in two dimensions (Z is ignored)
int insertAtClosest(const Position &p, bool interpolateZ)
inserts p between the two closest positions
void push_front(const Position &p)
insert in front a Position
void scaleRelative(double factor)
enlarges/shrinks the polygon by a factor based at the centroid
void push_back_noDoublePos(const Position &p)
insert in back a non double position
void removeDoublePoints(double minDist=POSITION_EPS, bool assertLength=false, int beginOffset=0, int endOffset=0, bool resample=false)
Removes positions if too near.
bool partialWithin(const AbstractPoly &poly, double offset=0) const
Returns the information whether this polygon lies partially within the given polygon.
double getMaxGrade(double &maxJump) const
double area() const
Returns the area (0 for non-closed)
bool isClosed() const
check if PositionVector is closed
void pop_front()
pop first Position
double nearest_offset_to_point25D(const Position &p, bool perpendicular=true) const
return the nearest offest to point 2D projected onto the 3D geometry
int removeClosest(const Position &p)
removes the point closest to p and return the removal index
static double localAngle(const Position &from, const Position &pos, const Position &to)
Position sidePositionAtAngle(double pos, double lateralOffset, double angle) const
bool intersects(const Position &p1, const Position &p2) const
Returns the information whether this list of points interesects the given line.
PositionVector reverse() const
reverse position vector
PositionVector getSubpartByIndex(int beginIndex, int count) const
get subpart of a position vector using index and a cout
Position positionAtOffset2D(double pos, double lateralOffset=0) const
Returns the position at the given length.
bool operator==(const PositionVector &v2) const
comparing operation
void sub(const Position &offset)
PositionVector getSubpart(double beginOffset, double endOffset) const
get subpart of a position vector
~PositionVector()
Destructor.
bool around(const Position &p, double offset=0) const
Returns the information whether the position vector describes a polygon lying around the given point.
Position transformToVectorCoordinates(const Position &p, bool extend=false) const
return position p within the length-wise coordinate system defined by this position vector....