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Signed-off-by: Louise Poubel <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,83 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * 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, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
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| %module line2 | ||
| %{ | ||
| #include <ignition/math/Line2.hh> | ||
| #include <ignition/math/Helpers.hh> | ||
| #include <ignition/math/Vector2.hh> | ||
| %} | ||
|
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| %include "std_string.i" | ||
|
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| namespace ignition | ||
| { | ||
| namespace math | ||
| { | ||
| template<typename T> | ||
| class Line2 | ||
| { | ||
| %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) ""; | ||
| public: Line2(const math::Vector2<T> &_ptA, const math::Vector2<T> &_ptB); | ||
| public: Line2(double _x1, double _y1, double _x2, double _y2); | ||
| public: void Set(const math::Vector2<T> &_ptA, | ||
| const math::Vector2<T> &_ptB); | ||
| public: void Set(double _x1, double _y1, double _x2, double _y2); | ||
| public: double CrossProduct(const Line2<T> &_line) const; | ||
| public: double CrossProduct(const Vector2<T> &_pt) const; | ||
| public: bool Collinear(const math::Vector2<T> &_pt, | ||
| double _epsilon = 1e-6) const; | ||
| public: bool Parallel(const math::Line2<T> &_line, | ||
| double _epsilon = 1e-6) const; | ||
| public: bool Collinear(const math::Line2<T> &_line, | ||
| double _epsilon = 1e-6) const; | ||
| public: bool OnSegment(const math::Vector2<T> &_pt, | ||
| double _epsilon = 1e-6) const; | ||
| public: bool Within(const math::Vector2<T> &_pt, | ||
| double _epsilon = 1e-6) const; | ||
| public: bool Intersect(const Line2<T> &_line, | ||
| double _epsilon = 1e-6) const; | ||
| public: bool Intersect(const Line2<T> &_line, math::Vector2<T> &_pt, | ||
| double _epsilon = 1e-6) const; | ||
| public: T Length() const; | ||
| public: double Slope() const; | ||
| public: bool operator==(const Line2<T> &_line) const; | ||
| public: bool operator!=(const Line2<T> &_line) const; | ||
| }; | ||
|
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| %extend Line2 | ||
| { | ||
| ignition::math::Vector2<T> __getitem__(unsigned int i) const | ||
| { | ||
| return (*$self)[i]; | ||
| } | ||
| } | ||
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| %extend Line2 | ||
| { | ||
| std::string __str__() const { | ||
| std::ostringstream out; | ||
| out << *$self; | ||
| return out.str(); | ||
| } | ||
| } | ||
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| %template(Line2i) Line2<int>; | ||
| %template(Line2d) Line2<double>; | ||
| %template(Line2f) Line2<float>; | ||
| } | ||
| } |
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| # Copyright (C) 2021 Open Source Robotics Foundation | ||
| # | ||
| # 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, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
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||
| import math | ||
| import unittest | ||
| from ignition.math import Line2d | ||
| from ignition.math import Vector2d | ||
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| class TestLine2d(unittest.TestCase): | ||
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| def test_construction(self): | ||
| line_a = Line2d(0, 0, 10, 10) | ||
| self.assertAlmostEqual(line_a[0].x(), 0.0) | ||
| self.assertAlmostEqual(line_a[0].y(), 0.0) | ||
| self.assertAlmostEqual(line_a[1].x(), 10.0) | ||
| self.assertAlmostEqual(line_a[1].y(), 10.0) | ||
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| line_b = Line2d(Vector2d(1, 2), Vector2d(3, 4)) | ||
| self.assertAlmostEqual(line_b[0].x(), 1.0) | ||
| self.assertAlmostEqual(line_b[0].y(), 2.0) | ||
| self.assertAlmostEqual(line_b[1].x(), 3.0) | ||
| self.assertAlmostEqual(line_b[1].y(), 4.0) | ||
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| self.assertAlmostEqual(line_b[2].x(), line_b[1].x()) | ||
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| def test_length(self): | ||
| line_a = Line2d(0, 0, 10, 10) | ||
| self.assertAlmostEqual(line_a.length(), math.sqrt(200), delta=1e-10) | ||
|
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| def test_slope(self): | ||
| line = Line2d(0, 0, 10, 10) | ||
| self.assertAlmostEqual(line.slope(), 1.0, delta=1e-10) | ||
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| line = Line2d(0, 0, 0, 10) | ||
| self.assertTrue(math.isnan(line.slope())) | ||
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| line = Line2d(-10, 0, 100, 0) | ||
| self.assertAlmostEqual(line.slope(), 0.0) | ||
|
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| def test_parallel_line(self): | ||
| # Line is always parallel with itself | ||
| line = Line2d(0, 0, 10, 0) | ||
| self.assertTrue(line.parallel(line, 1e-10)) | ||
|
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| # Degenerate line segment | ||
| # Still expect Line is parallel with itself | ||
| line = Line2d(0, 0, 0, 0) | ||
| self.assertTrue(line.parallel(line, 1e-10)) | ||
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| line_a = Line2d(0, 0, 10, 0) | ||
| line_b = Line2d(0, 0, 10, 0) | ||
| self.assertTrue(line_a.parallel(line_b, 1e-10)) | ||
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| line_b.set(0, 0, 0, 10) | ||
| self.assertFalse(line_a.parallel(line_b)) | ||
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| line_b.set(0, 10, 10, 10) | ||
| self.assertTrue(line_a.parallel(line_b)) | ||
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| line_b.set(0, 10, 10, 10.00001) | ||
| self.assertFalse(line_a.parallel(line_b, 1e-10)) | ||
| self.assertFalse(line_a.parallel(line_b)) | ||
| self.assertTrue(line_a.parallel(line_b, 1e-3)) | ||
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| def test_collinear_line(self): | ||
| # Line is always collinear with itself | ||
| line = Line2d(0, 0, 10, 0) | ||
| self.assertTrue(line.collinear(line, 1e-10)) | ||
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| line_a = Line2d(0, 0, 10, 0) | ||
| line_b = Line2d(0, 0, 10, 0) | ||
| self.assertTrue(line_a.collinear(line_b, 1e-10)) | ||
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| line_b.set(0, 10, 10, 10) | ||
| self.assertFalse(line_a.collinear(line_b)) | ||
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| line_b.set(9, 0, 10, 0.00001) | ||
| self.assertFalse(line_a.collinear(line_b, 1e-10)) | ||
| self.assertFalse(line_a.collinear(line_b)) | ||
| self.assertTrue(line_a.collinear(line_b, 1e-3)) | ||
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| def test_collinear_point(self): | ||
| line_a = Line2d(0, 0, 10, 0) | ||
| pt = Vector2d(0, 0) | ||
| self.assertTrue(line_a.collinear(pt)) | ||
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| pt_line = Line2d(pt, pt) | ||
| self.assertTrue(line_a.collinear(pt_line)) | ||
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| pt.set(1000, 0) | ||
| self.assertTrue(line_a.collinear(pt, 1e-10)) | ||
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| pt_line = Line2d(pt, pt) | ||
| self.assertTrue(line_a.parallel(pt_line)) | ||
| self.assertFalse(line_a.intersect(pt_line)) | ||
| self.assertFalse(line_a.collinear(pt_line, 1e-10)) | ||
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| pt.set(10, 0) | ||
| pt_line.set(pt, pt) | ||
| self.assertTrue(line_a.collinear(pt_line, 1e-10)) | ||
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| pt.set(0, 0.00001) | ||
| self.assertFalse(line_a.collinear(pt)) | ||
| self.assertTrue(line_a.collinear(pt, 1e-3)) | ||
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| pt_line = Line2d(pt, pt) | ||
| self.assertFalse(line_a.collinear(pt_line)) | ||
| self.assertTrue(line_a.parallel(pt_line)) | ||
| self.assertFalse(line_a.intersect(pt_line)) | ||
| self.assertTrue(line_a.intersect(pt_line, 1e-2)) | ||
| self.assertTrue(line_a.collinear(pt_line, 1e-3)) | ||
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| pt.set(0, -0.00001) | ||
| self.assertFalse(line_a.collinear(pt)) | ||
| self.assertTrue(line_a.collinear(pt, 1e-3)) | ||
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| pt_line = Line2d(pt, pt) | ||
| self.assertFalse(line_a.collinear(pt_line)) | ||
| self.assertTrue(line_a.collinear(pt_line, 1e-4)) | ||
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| def test_intersect(self): | ||
| pt = Vector2d() | ||
|
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| # parallel horizontal lines | ||
| line_a = Line2d(1, 1, 2, 1) | ||
| line_b = Line2d(1, 2, 2, 2) | ||
| self.assertFalse(line_a.intersect(line_b, pt)) | ||
|
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| # parallel vertical lines | ||
| line_a.set(1, 1, 1, 10) | ||
| line_b.set(2, 1, 2, 10) | ||
| self.assertFalse(line_a.intersect(line_b, pt)) | ||
|
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| # Two lines that form an inverted T with a gap | ||
| line_a.set(1, 1, 1, 10) | ||
| line_b.set(0, 0, 2, 0) | ||
| self.assertFalse(line_a.intersect(line_b, pt)) | ||
|
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| # Two lines that form a T with a gap | ||
| line_a.set(1, 1, 1, 10) | ||
| line_b.set(0, 10.1, 2, 10.1) | ||
| self.assertFalse(line_a.intersect(line_b, pt)) | ||
|
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| # Two lines that form an inverted T with a gap | ||
| line_a.set(0, -10, 0, 10) | ||
| line_b.set(1, 0, 10, 0) | ||
| self.assertFalse(line_a.intersect(line_b, pt)) | ||
|
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| # Two lines that form a T with a gap | ||
| line_a.set(0, -10, 0, 10) | ||
| line_b.set(-1, 0, -10, 0) | ||
| self.assertFalse(line_a.intersect(line_b, pt)) | ||
|
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| # Two collinear lines, one starts where the other stopped | ||
| line_a.set(1, 1, 1, 10) | ||
| line_b.set(1, 10, 1, 11) | ||
| self.assertTrue(line_a.intersect(line_b, pt)) | ||
| self.assertEqual(pt, Vector2d(1, 10)) | ||
|
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| # Two collinear lines, one overlaps the other | ||
| line_a.set(0, 0, 0, 10) | ||
| line_b.set(0, 9, 0, 11) | ||
| self.assertTrue(line_a.intersect(line_b, pt)) | ||
| self.assertEqual(pt, Vector2d(0, 9)) | ||
|
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| # Two collinear lines, one overlaps the other | ||
| line_a.set(0, 0, 0, 10) | ||
| line_b.set(0, -10, 0, 1) | ||
| self.assertTrue(line_a.intersect(line_b, pt)) | ||
| self.assertEqual(pt, Vector2d(0, 1)) | ||
|
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| # Two intersecting lines | ||
| line_a.set(0, 0, 10, 10) | ||
| line_b.set(0, 10, 10, 0) | ||
| self.assertTrue(line_a.intersect(line_b, pt)) | ||
| self.assertEqual(pt, Vector2d(5, 5)) | ||
|
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| def test_equality(self): | ||
| line_a = Line2d(1, 1, 2, 1) | ||
| line_b = Line2d(1, 2, 2, 2) | ||
|
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| self.assertTrue(line_a != line_b) | ||
| self.assertTrue(line_a == line_a) | ||
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| line_b.set(1, 1, 2, 1.1) | ||
| self.assertFalse(line_a == line_b) | ||
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| line_b.set(1, 1, 2.1, 1) | ||
| self.assertFalse(line_a == line_b) | ||
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| line_b.set(1, 1.1, 2, 1) | ||
| self.assertFalse(line_a == line_b) | ||
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| line_b.set(1.1, 1, 2, 1) | ||
| self.assertFalse(line_a == line_b) | ||
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| def test_serialization(self): | ||
| line = Line2d(0, 1, 2, 3) | ||
| self.assertEqual(str(line), "0 1 2 3") | ||
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| if __name__ == '__main__': | ||
| unittest.main() |
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