Obstacle and CircularObstacle #12
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We should write some unit tests before merging the branch |
| float CircularObstacle::squaredDistance(const Vector2D &pos) const | ||
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| // TODO : is "distance" really necessary ? (it uses a std::sqrt computation) | ||
| float out = std::max(0.f, pos.distance(rotation_center_) - radius_); |
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We should consider implementing an approximation of the euclidean distance that does not uses sqrt and add an entry in the config for this. (this has nothing to do with the merging request)
| if (typeid(*this) != typeid(rhs)) | ||
| return false; | ||
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| return static_cast<const CompoundObstacle &>(rhs).obstacles_list_ == obstacles_list_; |
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Same as CircularObstacle::operator==(const Obstacle &rhs) const
| if (typeid(*this) != typeid(rhs)) | ||
| return false; | ||
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| return radius_ == static_cast<const CircularObstacle &>(rhs).radius_; |
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Shouldn't this be factorised? Something like:
return Obstacle::operator==(rhs) && typeid(*this) != typeid(rhs)
&& radius_ == static_cast<const CircularObstacle &>(rhs).radius_;
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| Vector2D RectangularObstacle::toObstacleCoordinateSystem(const Vector2D &point) const | ||
| { | ||
| return Vector2D(getXToObstacleCoordinateSystem(point), getYToObstacleCoordinateSystem(point)); |
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The return type is already specified as Vector2D, a braced initializer is enough here.
return { getXToObstacleCoordinateSystem(point), getYToObstacleCoordinateSystem(point) };
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| Vector2D RectangularObstacle::toTableCoordinateSystem(const Vector2D &point) const | ||
| { | ||
| return Vector2D(cos_ * point.getX() - sin_ * point.getY() + rotation_center_.getX(), |
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Same as RectangularObstacle::toObstacleCoordinateSystem(const Vector2D &point) const
| Vector2D pointA = corners[i]; | ||
| Vector2D pointB = corners[(i + 1) % 4]; | ||
| float distance = pointA.distance(pointB); | ||
| int nbPoints = static_cast<int>(std::ceil(distance / longestAllowedLength)); |
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auto can be used here because the types are obvious:
auto distance
auto nbPoints
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| float RectangularObstacle::squaredDistance(const Vector2D &v) const | ||
| { | ||
| Vector2D in = toObstacleCoordinateSystem(v); |
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Can be const auto in (but with a better name than in ?)
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| bool RectangularObstacle::isInObstacle(const Vector2D &pos) const | ||
| { | ||
| Vector2D in = toObstacleCoordinateSystem(pos); |
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Can be const auto in (but with a better name than in ?)
| if (typeid(*this) != typeid(rhs)) | ||
| return false; | ||
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| RectangularObstacle ro_rhs = static_cast<const RectangularObstacle &>(rhs); |
| right_upper_corner_ == ro_rhs.right_upper_corner_; | ||
| } | ||
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| bool RectangularObstacle::test_separation(const float &a, const float &b, const float &a2, const float &b2, |
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RectangularObstacle::test_separation can have the noexcept and constexpr specifiers
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std::min and std::max are not declared with noexcept... So i don't know if it's really a good idea.
In C++11: " constexpr functions may contain no more than a single executable statement: a return" Effective Modern C++ Scott Meyers, p99, but, i'm fine with C++14 ;-)
| obs.getYToObstacleCoordinateSystem(right_upper_corner_rotate_)); | ||
| } | ||
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| float RectangularObstacle::getHalfDiagonal() const |
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RectangularObstacle::getHalfDiagonal can be declared with noexcept
Issue #2
Method
bool isColliding(RectangularObstacle obs)is missing becauseRectangularObstacleis missing.