CarND-term3-Path-Planning-Project/src/coordinates.hpp at master · ivovandongen/CarND-term3-Path-Planning-Project · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
#pragma once

namespace cartesian {

class Coordinates {
public:
    Coordinates() = default;

    Coordinates(double x, double y);

    virtual ~Coordinates();

    static Coordinates toGlobal(double x, double y, double ref_x, double ref_y,
                                double ref_angle);

    static Coordinates toLocal(double x, double y, double ref_x, double ref_y,
                               double ref_angle);

    Coordinates toGlobal(double ref_x, double ref_y, double ref_angle) const;

    Coordinates toLocal(double ref_x, double ref_y, double ref_angle) const;

    double x() const {
        return x_;
    }

    double y() const {
        return y_;
    }

private:
    double x_{};
    double y_{};
};

} // namespace cartesian