Vector2d.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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,
 * WITHOUdouble WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Two dimensional vector
 * Author: Nate Koenig
 * Date: 3 Apr 2007
 */

#ifndef VECTOR2D_HH
#define VECTOR2D_HH

#include <iostream>
#include <math.h>
#include <fstream>

namespace gazebo
{
    namespace math
  {
    
    class Vector2d
    {
      public: Vector2d();
    
      public: Vector2d( const double &x, const double &y );
    
      public: Vector2d( const Vector2d &pt );
    
      public: virtual ~Vector2d();
    
      public: double Distance( const Vector2d &pt ) const;
    
      public: void Normalize();
    
      public: void Set(double x, double y);
    
      public: Vector2d GetCrossProd(const Vector2d &pt) const;
    
      public: const Vector2d &operator=( const Vector2d &pt );
    
      public: const Vector2d &operator=( double value );
    
      public: Vector2d operator+( const Vector2d &pt ) const;
    
      public: const Vector2d &operator+=( const Vector2d &pt );
    
      public: Vector2d operator-( const Vector2d &pt ) const;
    
      public: const Vector2d &operator-=( const Vector2d &pt );
    
      public: const Vector2d operator/( const Vector2d &pt ) const;
    
      public: const Vector2d &operator/=( const Vector2d &pt );
    
      public: const Vector2d operator/( double v ) const;
    
      public: const Vector2d &operator/=( double v );
    
      public: const Vector2d operator*( const Vector2d &pt ) const;
    
      public: const Vector2d &operator*=( const Vector2d &pt );
    
      public: const Vector2d operator*( double v ) const;
    
      public: const Vector2d &operator*=( double v );
    
      public: bool operator==( const Vector2d &pt ) const;
    
      public: bool operator!=( const Vector2d &pt ) const;
    
      public: bool IsFinite() const;
    
      public: double operator[](unsigned int index) const;
    
      public: double x;
  
      public: double y;
    
      public: friend std::ostream &operator<<( std::ostream &out, const gazebo::math::Vector2d &pt )
      {
        out << pt.x << " " << pt.y;
        return out;
      }
  
      public: friend std::istream &operator>>( std::istream &in, gazebo::math::Vector2d &pt )
      {
        // Skip white spaces
        in.setf( std::ios_base::skipws );
        in >> pt.x >> pt.y;
        return in;
      }
    };
    
  }
}
#endif