Pose2D.hpp

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//
// Created by caleb on 10/24/2024
//
 
 
#ifndef POSE2D_H
#define POSE2D_H
 
#include <cmath>
#include <cstdint>
#include <sstream>
#include <ostream>
 
#define BOT_RADIUS 6
 
class Pose2D {
  protected:
    double x, y, heading;
 
  public:
    Pose2D(double x, double y, double heading);
 
    Pose2D(double x, double y);
 
    Pose2D();
 
    Pose2D(const Pose2D& position);
    // Pose2D(Pose2D* position);
    [[nodiscard]] double angleTo(const Pose2D& other) const;
 
    [[nodiscard]] double distanceTo(const Pose2D& other) const;
 
    [[nodiscard]] double squareOfDistanceTo(const Pose2D& other) const;
 
    static Pose2D fromPolar(double magnitude, double angle);
 
    static double degreesToRadians(double degrees);
 
    static double radiansToDegrees(double radians);
 
    [[nodiscard]] Pose2D clone() const;
 
    void rotateByPose(const Pose2D& rotation);
 
    void rotateByAngle(double angle);
 
    void translateByPose(const Pose2D& translation);
 
    void translateByMagnitude(double magnitude);
 
    void transformPose(const Pose2D& modifier);
 
    [[nodiscard]] double getX() const;
 
    [[nodiscard]] double getY() const;
 
    [[nodiscard]] double getHeading() const;
 
    void setHeading(double angle);
 
    void plusCoord(const Pose2D& other);
 
    void plus(const Pose2D& other);
 
    void minus(Pose2D other);
 
    void addAngle(double angle);
 
    [[nodiscard]] Pose2D subtractBy(const Pose2D& other) const;
 
    [[nodiscard]] Pose2D scaleBy(double scaler) const;
 
    [[nodiscard]] Pose2D normalize() const;
 
    [[nodiscard]] double dotProduct(const Pose2D& other) const;
 
    friend std::ostream &operator<<(std::ostream &os, const Pose2D &d);
 
    void setX(double x);
 
    void vecAdd(double angle, double magnitude);
 
    void setY(double y);
 
    [[nodiscard]] uint8_t getQuadrant() const;
 
    void wrapHeading();
 
    void transformForPose(const Pose2D& other);
 
    static Pose2D parseFromStream(std::istringstream& stream);
 
    // static SlopeIntercept getSlopeIntercept(Pose2D one, Pose2D two);
    
 
    bool isOnLine(Pose2D LineEnd1, Pose2D LineEnd2);
 
    bool isPerpendicularToLine(double m);
 
    static double getAngleBetweenPoints(Pose2D corner, Pose2D end1, Pose2D end2);
 
    void multiply(double d);
};
 
struct Rectangle {
    Pose2D r1, r2, r3, r4;
};
 
Rectangle makeRectangleFromLine(const Pose2D& L1, const Pose2D& L2, double width);
 
#endif //POSE2D_H