Vector2d.hh

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/*
 * Copyright 2011 Nate Koenig
 *
 * 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 <math.h>
#include <iostream>
#include <fstream>

namespace gazebo
{
  namespace math
  {

    class Vector2d
    {
      public: Vector2d();

      public: Vector2d(const double &_x, const double &_y);

      public: Vector2d(const Vector2d &_v);

      public: virtual ~Vector2d();

      public: double Distance(const Vector2d &_pt) const;

      public: void Normalize();

      public: void Set(double _x, double _y);

      public: Vector2d Cross(const Vector2d &_v) const;

      public: Vector2d &operator =(const Vector2d &_v);

      public: const Vector2d &operator =(double _v);

      public: Vector2d operator+(const Vector2d &_v) const;

      // \return this
      public: const Vector2d &operator+=(const Vector2d &_v);

      public: Vector2d operator-(const Vector2d &_v) const;

      public: const Vector2d &operator-=(const Vector2d &_v);

      public: const Vector2d operator/(const Vector2d &_v) const;

      public: const Vector2d &operator/=(const Vector2d &_v);

      public: const Vector2d operator/(double _v) const;

      public: const Vector2d &operator/=(double _v);

      public: const Vector2d operator*(const Vector2d &_v) const;

      public: const Vector2d &operator*=(const Vector2d &_v);

      public: const Vector2d operator*(double _v) const;

      public: const Vector2d &operator*=(double _v);

      public: bool operator ==(const Vector2d &_v) const;

      public: bool operator!=(const Vector2d &_v) 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