polar.h

[詳解]

 
#pragma once
 
#include <ostream>
 
namespace ctrl {
 
struct Polar {
  float tra;  //< translation [m]
  float rot;  //< rotation [rad]
 
 public:
  constexpr Polar() : tra(0), rot(0) {}
  constexpr Polar(const float tra, const float rot) : tra(tra), rot(rot) {}
  void clear() { tra = rot = 0; }
  auto& operator+=(const Polar& o) { return tra += o.tra, rot += o.rot, *this; }
  auto& operator-=(const Polar& o) { return tra -= o.tra, rot -= o.rot, *this; }
  Polar operator+(const Polar& o) const { return {tra + o.tra, rot + o.rot}; }
  Polar operator-(const Polar& o) const { return {tra - o.tra, rot - o.rot}; }
  Polar operator*(const Polar& o) const { return {tra * o.tra, rot * o.rot}; }
  Polar operator/(const Polar& o) const { return {tra / o.tra, rot / o.rot}; }
  Polar operator*(const float k) const { return {tra * k, rot * k}; }
  Polar operator/(const float k) const { return {tra / k, rot / k}; }
  friend std::ostream& operator<<(std::ostream& os, const Polar& o) {
    return os << "(" << o.tra << ", " << o.rot << ")";
  }
};
 
}  // namespace ctrl