shapes.hpp

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// Copyright 2021 The Autoware 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.


#ifndef TRACKING_TEST_FRAMEWORK__SHAPES_HPP_
#define TRACKING_TEST_FRAMEWORK__SHAPES_HPP_

#include <tracking_test_framework/visibility_control.hpp>
#include <tracking_test_framework/eigen_stl_vector.hpp>

#include <common/types.hpp>

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

#include <cstdint>
#include <memory>
#include <vector>

namespace autoware
{
namespace tracking_test_framework
{

class TRACKING_TEST_FRAMEWORK_PUBLIC Line;


class TRACKING_TEST_FRAMEWORK_PUBLIC Shape
{
public:
  virtual EigenStlVector<Eigen::Vector2f> intersect_with_line(
    const Line & line, const autoware::common::types::bool8_t closest_point_only) const = 0;

  virtual ~Shape() = default;
};

class TRACKING_TEST_FRAMEWORK_PUBLIC Line : public Shape
{
public:
  Line() = default;

  Line(const Eigen::Vector2f & start, const Eigen::Vector2f & end);

  EigenStlVector<Eigen::Vector2f> intersect_with_line(
    const Line & line, const autoware::common::types::bool8_t closest_point_only) const override;

  Eigen::Vector2f get_point(const autoware::common::types::float32_t scale) const;

  inline const Eigen::Vector2f & starting_point() const
  {
    return m_start;
  }

  inline const Eigen::Vector2f & end_point() const
  {
    return m_end;
  }

  inline const Eigen::Vector2f & direction() const
  {
    return m_line_direction;
  }

  inline const autoware::common::types::float32_t & length() const
  {
    return m_line_length;
  }

private:
  Eigen::Vector2f m_start{Eigen::Vector2f::Zero()};
  Eigen::Vector2f m_end{Eigen::Vector2f::Zero()};
  autoware::common::types::float32_t m_line_length{};
  Eigen::Vector2f m_line_direction{Eigen::Vector2f::Zero()};
};

class TRACKING_TEST_FRAMEWORK_PUBLIC Rectangle : public Shape
{
public:
  Rectangle(
    const Eigen::Vector2f & center, const Eigen::Vector2f & size,
    const autoware::common::types::float32_t orientation_degrees);

  EigenStlVector<Eigen::Vector2f> intersect_with_line(
    const Line & line, const autoware::common::types::bool8_t closest_point_only) const override;

private:
  Eigen::Vector2f m_center{Eigen::Vector2f::Zero()};
  Eigen::Vector2f m_size{Eigen::Vector2f::Zero()};
  autoware::common::types::float32_t m_orientation_radians{};
  std::array<Line, 4> m_borders{};
  std::array<Eigen::Vector2f, 4> m_corners{};
};

class TRACKING_TEST_FRAMEWORK_PUBLIC Circle : public Shape
{
public:
  Circle(const Eigen::Vector2f & center, const autoware::common::types::float32_t radius);

  EigenStlVector<Eigen::Vector2f> intersect_with_line(
    const Line & line, const autoware::common::types::bool8_t closest_point_only) const override;

private:
  Eigen::Vector2f m_center{Eigen::Vector2f::Zero()};
  autoware::common::types::float32_t m_radius{};
};

}  // namespace tracking_test_framework
}  // namespace autoware
#endif  // TRACKING_TEST_FRAMEWORK__SHAPES_HPP_