Line.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
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 * Commercial Usage:
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 *   accordance with the commercial license agreement provided with the
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 *
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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 */

#ifndef _MIRA_LINE_H_
#define _MIRA_LINE_H_

#include <geometry/Point.h>

#include <utils/IsCheapToCopy.h>

namespace mira {


template <typename T, int D>
class Line
{
public:
    typedef Point<T,D> PointType;

public:
    Line() {}

    Line(const PointType& p1, const PointType& p2) :
        first(p1), second(p2) {}

public:
    const PointType& front() const { return first; }

    PointType& front() { return first; }

    const PointType& back() const { return second; }

    PointType& back() { return second; }

public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("P0", first,  "The first point");
        r.property("P1", second, "The second point");
    }

public:
    PointType first, second; // must be called first and second
                             // for compatibility with boost::geometry

};


typedef Line<int, 2>   Line2i; 
typedef Line<int, 3>   Line3i; 
typedef Line<float, 2> Line2f; 
typedef Line<float, 3> Line3f; 


template <>
class IsCheapToCopy<Line2i> : public std::true_type {};

template <>
class IsCheapToCopy<Line3i> : public std::true_type {};

template <>
class IsCheapToCopy<Line2f> : public std::true_type {};

template <>
class IsCheapToCopy<Line3f> : public std::true_type {};


} // end of MIRA namespace


// BOOST specialization on Line to accept them as geometry entity
namespace boost { namespace geometry { namespace traits {


template <typename T, int D>
struct tag<mira::Line<T,D> > {
    typedef segment_tag type;
};

template <typename T, int D>
struct point_type<mira::Line<T,D> > {
    typedef mira::Point<T,D> type;
};

template <typename T, int D, std::size_t Dimension>
struct indexed_access<mira::Line<T,D>, 0, Dimension>
{
    typedef mira::Line<T,D> segment_type;
    typedef typename geometry::coordinate_type<segment_type>::type coordinate_type;

    static inline coordinate_type get(segment_type const& s) {
        return geometry::get<Dimension>(s.first);
    }

    static inline void set(segment_type& s, coordinate_type const& value) {
        geometry::set<Dimension>(s.first, value);
    }
};

template <typename T, int D, std::size_t Dimension>
struct indexed_access<mira::Line<T,D>, 1, Dimension>
{
    typedef mira::Line<T,D> segment_type;
    typedef typename geometry::coordinate_type<segment_type>::type coordinate_type;

    static inline coordinate_type get(segment_type const& s) {
        return geometry::get<Dimension>(s.second);
    }

    static inline void set(segment_type& s, coordinate_type const& value) {
        geometry::set<Dimension>(s.second, value);
    }
};


}}} // end of boost namespaces



#endif