BoundBox.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



/* @{ */


#ifndef __BOUND_BOX_H_
#define __BOUND_BOX_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <stdio.h>
#include <math.h>
#include <vector>
#include <iostream>
#include <string>
#include <sstream>
#include <sys/time.h>
#include <sys/select.h>
#include <assert.h>

#ifdef FOUND_BOOST_SER
 #include <boost/serialization/vector.hpp>
 #include <boost/archive/text_iarchive.hpp>
 #include <boost/archive/text_oarchive.hpp>
#endif

#include <Types.h>

#include <SE2.h>

using namespace std;


class BoundBox{
 protected:
  
  static const Decimal BB_DEFAULT_XMIN; 
  static const Decimal BB_DEFAULT_YMIN; 
  static const Decimal BB_DEFAULT_XMAX; 
  static const Decimal BB_DEFAULT_YMAX; 
  bool _clear;  
  bool _locked; 
  
  void unlock(){
   _locked = false;
  }
  void lock(){
   _locked = true;
  }
  
 public:
  Decimal xm; 
  Decimal ym; 
  Decimal xM; 
  Decimal yM; 
  
  BoundBox();
  
  BoundBox(Decimal xm,Decimal ym,Decimal xM,Decimal yM);
  
  BoundBox(Position p1,Position p2);
  
  void extend(BoundBox bb);
  
  void extend(Position p);
  
  Decimal diameter(){
   return sqrt((xM-xm)*(xM-xm) + (yM-ym)*(yM-ym));
  }
  
  Decimal width(){
   return xM - xm;
  }
  
  Decimal height(){
   return yM - ym;
  }
  
  Position center(){
   return Position( (xM+xm)/2.0 , (yM+ym)/2.0 );
  }
  
  const BoundBox operator*(Pose p);
  
  void clear(){
   _clear = true;
   unlock();
  }
};



#endif



/* @} */