Vec2D.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_MATH_VEC2D_H
#define YARP_MATH_VEC2D_H
 
#include <yarp/math/api.h>
 
#include <yarp/os/Portable.h>
 
#include <yarp/sig/Matrix.h>
#include <yarp/sig/Vector.h>
 
#include <type_traits>
 
namespace yarp {
namespace math {
 
template <typename T>
class YARP_math_API Vec2D : public yarp::os::Portable
{
    static_assert(std::is_same<size_t, T>::value || std::is_same<int, T>::value || std::is_same<double, T>::value, "Vec2D can be specialized only as size_t, int, double");
 
public:
    T x;
    T y;
 
public:
    Vec2D<T>();
    Vec2D<T>(const T& x_value, const T& y_value);
    Vec2D<T>(const yarp::sig::Vector& v);
    explicit operator yarp::sig::Vector() const
    {
        yarp::sig::Vector v(2);
        v[0] = double(x);
        v[1] = double(y);
        return v;
    }
 
    T norm() const;
 
    std::string toString(int precision = -1, int width = -1) const;
 
    /*
    * Read vector from a connection.
    * return true if a Vec2D was read correctly
    */
    bool read(yarp::os::ConnectionReader& connection) override;
 
    bool write(yarp::os::ConnectionWriter& connection) const override;
 
    yarp::os::Type getType() const override
    {
        return yarp::os::Type::byName("yarp/vec2D");
    }
 
    //operators
    yarp::math::Vec2D<T>& operator+=(const yarp::math::Vec2D<T>& rhs);
    yarp::math::Vec2D<T>& operator-=(const yarp::math::Vec2D<T>& rhs);
    bool operator==(const yarp::math::Vec2D<T>& rhs) const;
    bool operator!=(const yarp::math::Vec2D<T>& rhs) const;
};
 
} // namespace math
} // namespace yarp
 
//operators
template <typename T>
yarp::math::Vec2D<T> YARP_math_API operator+(yarp::math::Vec2D<T> lhs, const yarp::math::Vec2D<T>& rhs);
 
template <typename T>
yarp::math::Vec2D<T> YARP_math_API operator-(yarp::math::Vec2D<T> lhs, const yarp::math::Vec2D<T>& rhs);
 
template <typename T>
yarp::math::Vec2D<T> YARP_math_API operator*(const yarp::sig::Matrix& lhs, yarp::math::Vec2D<T> rhs);
 
#endif // YARP_MATH_VEC2D_H