Hole.hpp

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#ifndef HOLE_H
#define HOLE_H
 
#include "vector"
#include <memory>
#include "Pose2D.hpp"
#include <cmath>
#include <ostream>
 
#define HOLE_SIZE 69.06 // centimeters
 
class Hole {
    private:
    Pose2D cornerOne;
    Pose2D cornerTwo;
    double threshold = -1;
    double phi = -1;
    double x_translation_one = -1;
    double y_translation_one = -1;
    double x_translation_two = -1;
    double y_translation_two = -1;
    double holeSize = -1;
 
    bool foundHole = false;
 
    std::unique_ptr<std::vector<Pose2D>> points;
    std::unique_ptr<std::vector<Hole>> pointHoles;
    public:
    
    Hole(double X1, double Y1, double X2, double Y2, double holeSize);
 
    Hole(const Pose2D& positionOne, const Pose2D& positionTwo, bool foundHole, const std::vector<Pose2D>& points, double holeSize);
 
    Hole(double x1, double y1, double x2, double y2);
 
    Hole(const Pose2D& positionOne, const Pose2D& positionTwo, double holeSize);
 
    std::vector<Pose2D> getSuggestedNodePlacements();
 
    void registerPointsToHole(const Pose2D& positionOne, const Pose2D& positionTwo);
 
    friend std::ostream &operator<<(std::ostream &os, const Hole &hole);
 
    [[nodiscard]] Pose2D copyDoOperation(const Pose2D& position) const;
    
    Pose2D getOneSquareCorner();
 
    Pose2D getSecondSquareCorner();
 
    bool pointCouldBeMemberOfHole(const Pose2D& measurment);
 
    bool isFoundHole() const {return foundHole;}
 
    [[nodiscard]] std::vector<Hole> getSubHolesCopy() const;
 
    Hole();
 
    Hole(const Hole& hole);
 
    explicit Hole(const Pose2D& initialPoint, double holeSize);
 
    void addPoint(const Pose2D& position);
 
    bool isInSquare(Pose2D& position) const;
 
    void offset(const Pose2D& offset);
 
     bool lineIntersectsHole(const Pose2D& posOne, const Pose2D& posTwo) const;
};
 
#endif // HOLE_H