Map2DArea.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_MAP2DAREA_H
#define YARP_DEV_MAP2DAREA_H
 
#include <yarp/os/Portable.h>
#include <yarp/math/Vec2D.h>
#include <yarp/dev/api.h>
#include <yarp/dev/Map2DLocation.h>
#include <yarp/dev/Map2DAreaData.h>
#include <sstream>
#include <string>
#include <vector>
 
namespace yarp::dev::Nav2D {
class YARP_dev_API Map2DArea : public Map2DAreaData
{
public:
    Map2DArea(const std::string& map_name, const std::vector<yarp::math::Vec2D<double>>& area_points, const std::string& desc = "");
 
    Map2DArea(const std::string& map_name, const std::vector<yarp::dev::Nav2D::Map2DLocation>& area_points, const std::string& desc = "");
 
    Map2DArea();
 
    std::string toString() const;
 
    bool operator!=(const Map2DArea& r) const;
 
    bool operator==(const Map2DArea& r) const;
 
    bool isValid() const;
 
    bool checkLocationInsideArea(yarp::dev::Nav2D::Map2DLocation loc);
 
    bool findAreaBounds(yarp::dev::Nav2D::Map2DLocation& lt, yarp::dev::Nav2D::Map2DLocation& rb);
 
    bool getCentroid(yarp::dev::Nav2D::Map2DLocation& cent);
 
    bool getRandomLocation(yarp::dev::Nav2D::Map2DLocation& loc);
 
    yarp::math::Vec2D<double>& operator[](size_t index);
 
    void clear();
 
    bool read(yarp::os::idl::WireReader& reader) override
    {
        return Map2DAreaData::read(reader);
    }
    bool write(const yarp::os::idl::WireWriter& writer) const override
    {
        return Map2DAreaData::write(writer);
    }
    bool read(yarp::os::ConnectionReader& reader) override
    {
        return Map2DAreaData::read(reader);
    }
    bool write(yarp::os::ConnectionWriter& writer) const override
    {
        return Map2DAreaData::write(writer);
    }
};
} // namespace yarp::dev::Nav2D
 
#endif // YARP_DEV_MAP2DAREA_H