geometry.h

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/* Author: Zachary Kingston */

#ifndef SE2EZ_CORE_GEOMETRY_
#define SE2EZ_CORE_GEOMETRY_

#include <Eigen/Core>
#include <Eigen/Geometry>

#include <se2ez/core/class_forward.h>
#include <se2ez/core/math.h>

namespace se2ez
{
    /** \cond IGNORE */
    SE2EZ_CLASS_FORWARD(Geometry)
    /** \endcond */

    /** \class se2ez::GeometryPtr
        \brief A shared pointer wrapper for se2ez::Geometry. */

    /** \class se2ez::GeometryConstPtr
        \brief A const shared pointer wrapper for se2ez::Geometry. */

    class Geometry
    {
    public:
        SE2EZ_EIGEN_CLASS

        /** \brief Type of geometry.
         */
        enum Type
        {
            BOX = 0,     ///< A rectangular prism.
            CIRCLE = 1,  ///< A filled circle.
            CONVEX = 2,  ///< A convex polygon.
            SIMPLE = 3   ///< A simple polygon (no holes).
        };

        /** \brief Maximum value a geometry type can have */
        static const unsigned int TYPE_MAX = SIMPLE;

        /** \brief String representation of geometry type. */
        static const std::string TYPE_STRINGS[];

        /** \brief Try to convert a string into a geometry type. Not case-sensitive.
         *  \param[in] geometry String of geometry type. See TYPE_STRINGS.
         *  \return The type of geometry specified by the string, or an exception on failure.
         */
        static Type stringToType(const std::string &geometry);

        /** \brief Converts a geometry type into its string representation.
         *  \param[in] type The type to convert.
         *  \return The geometry type as a string.
         */
        static const std::string &typeToString(const Type &type);

        /** \name Constructors
            \{ */

        /** \brief Constructor.
         *  \param[in] g geometry to copy values from;
         */
        Geometry(const GeometryPtr &g);

        /** \brief Constructor.
         *  \param[in] type Type of the geometry(box or circle).
         *  \param[in] dimensions The dimensions of this geometry.
         *  \param[in] offset The offset of this geometry from its root frame.
         *  \param[in] color Color to display for this geometry.
         */
        Geometry(Type type, const Eigen::VectorXd &dimensions, const Eigen::Isometry2d &offset,
                 const Eigen::Vector4d &color = {0., 0., 0., 1.});

        /** \brief Constructor.
         *  \param[in] type Type of the geometry (box or circle).
         *  \param[in] dimensions The dimensions of this geometry.
         *  \param[in] offset The offset of this geometry from its root frame.
         *  \param[in] color Color to display for this geometry.
         */
        Geometry(Type type, const Eigen::VectorXd &dimensions, const Eigen::Vector3d &offset,
                 const Eigen::Vector4d &color = {0., 0., 0., 1.});

        /** \brief Constructor.
         *  \param[in] type Type of the geometry (convex or polygon).
         *  \param[in] points Points of the polygon.
         *  \param[in] offset The offset of this geometry from its root frame.
         *  \param[in] color Color to display for this geometry.
         */
        Geometry(Type type, const tf::EigenVector<Eigen::Vector2d> &points, const Eigen::Isometry2d &offset,
                 const Eigen::Vector4d &color = {0., 0., 0., 1.});

        /** \brief Constructor.
         *  \param[in] type Type of the geometry (convex or polygon).
         *  \param[in] points Points of the polygon.
         *  \param[in] offset The offset of this geometry from its root frame.
         *  \param[in] color Color to display for this geometry.
         */
        Geometry(Type type, const tf::EigenVector<Eigen::Vector2d> &points, const Eigen::Vector3d &offset,
                 const Eigen::Vector4d &color = {0., 0., 0., 1.});

        // non-copyable
        Geometry(const Geometry &) = delete;
        Geometry(Geometry &&) = delete;

        /** \} */

        /** \name Debug
            \{ */

        /** \brief Returns a string representation of the geometry.
         *  \return A string of the geometry.
         */
        std::string printGeometry() const;

        /** \} */

        const Type type;                          ///< Type of geometry.
        Eigen::VectorXd dimensions;               ///< The geometry's dimensions.
        tf::EigenVector<Eigen::Vector2d> points;  ///< Point list for polygons.
        Eigen::Isometry2d offset;                 ///< Offset of geometry from base frame.
        bool isOffset;                            ///< Is this geometry offset?
        Eigen::Vector4d color;                    ///< The color to display this geometry as.
    };

}  // namespace se2ez

#endif