rect2d.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include "Eigen/Core"

namespace apollo {
namespace localization {
namespace msf {

template <typename T>
class Rect2D {
 public:
  Rect2D();
  Rect2D(T min_x, T min_y, T max_x, T max_y);
  Rect2D(const Rect2D<T>& ref);
  Rect2D<T>& operator=(const Rect2D<T>& ref);
  T GetMinX() const;
  T GetMinY() const;
  T GetMaxX() const;
  T GetMaxY() const;
  Eigen::Matrix<T, 2, 1> GetLeftTopCorner() const;
  Eigen::Matrix<T, 2, 1> GetRightBottomCorner() const;

 private:
  Eigen::Matrix<T, 4, 1, Eigen::DontAlign> _data;
};

template <typename T>
Rect2D<T>::Rect2D() {}

template <typename T>
Rect2D<T>::Rect2D(T min_x, T min_y, T max_x, T max_y)
    : _data(min_x, min_y, max_x, max_y) {}

template <typename T>
Rect2D<T>::Rect2D(const Rect2D<T>& ref) {
  _data = ref._data;
}

template <typename T>
Rect2D<T>& Rect2D<T>::operator=(const Rect2D<T>& ref) {
  _data = ref._data;
  return *this;
}

template <typename T>
T Rect2D<T>::GetMinX() const {
  return _data(0);
}

template <typename T>
T Rect2D<T>::GetMinY() const {
  return _data(1);
}

template <typename T>
T Rect2D<T>::GetMaxX() const {
  return _data(2);
}

template <typename T>
T Rect2D<T>::GetMaxY() const {
  return _data(3);
}

template <typename T>
Eigen::Matrix<T, 2, 1> Rect2D<T>::GetLeftTopCorner() const {
  Eigen::Matrix<T, 2, 1> corner;
  corner(0) = _data(0);
  corner(1) = _data(1);
  return corner;
}

template <typename T>
Eigen::Matrix<T, 2, 1> Rect2D<T>::GetRightBottomCorner() const {
  Eigen::Matrix<T, 2, 1> corner;
  corner(0) = _data(2);
  corner(1) = _data(3);
  return corner;
}

}  // namespace msf
}  // namespace localization
}  // namespace apollo