Footprint.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
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
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 */

#ifndef _MIRA_FOOTPRINT_H_
#define _MIRA_FOOTPRINT_H_


#include <serialization/adapters/std/vector>

#include <geometry/Point.h>
#include <geometry/Line.h>
#include <geometry/Polygon.h>
#include <geometry/Rect.h>

#include <boost/geometry/strategies/strategies.hpp>
#include <boost/geometry/algorithms/distance.hpp>

namespace mira {


class Footprint : public std::vector<Polygon2f>
{
    typedef std::vector<Polygon2f> Base;
public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, Base);
    }

public:

    float getInnerRadius() const {

        float rMin = std::numeric_limits<float>::infinity();
        foreach(const Polygon2f& polygon,*this)
        {
            for(std::size_t i=1; i<polygon.size(); ++i)
            {
                Line2f l(polygon[i-1], polygon[i]);
                float d = boost::geometry::distance(Point2f(0,0), l);
                if(d<rMin)
                    rMin = d;
            }
        }
        if(rMin==std::numeric_limits<float>::infinity())
            return 0.0f;
        return rMin;
    }

    float getOuterRadius() const {

        float rSq = 0.0f;
        foreach(const Polygon2f& polygon,*this)
        {
            foreach(const Point2f& p, polygon)
            {
                float d = p.x()*p.x() + p.y()*p.y();
                if(d>rSq)
                    rSq = d;
            }
        }
        return std::sqrt(rSq);
    }

    Rect2f getBoundingBox() const {
        auto boundingBox = Rect2f::invalid();
        foreach (const Polygon2f& polygon, *this) {
            foreach (const Point2f& p, polygon) {
                boundingBox |= p;
            }
        }
        return boundingBox;
    }

    float getWidth() const {
        const auto boundingBox = getBoundingBox();
        if(boundingBox.isValid())
            // this is no mistake
            return boundingBox.height();

        return 0.0f;
    }


};


} // namespace

#endif