CoordinateTransform.h

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/*
 *  Copyright (c) 2018, Martin Duy Tat
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#ifndef COORDINATE_TRANSFORM_H
#define COORDINATE_TRANSFORM_H
 
#include <vector>
 
namespace coordinatetransform {
 
struct myParams {
    double s_0;
    double lambdaleft;
    double lambdaright;
    double rho;
};
 
class CoordinateTransform {
public:
    CoordinateTransform() = delete;
    CoordinateTransform(const double &xlab,
                        const double &ylab,
                        const double &zlab,
                        const double &s_0,
                        const double &lambdaleft,
                        const double &lambdaright,
                        const double &rho);
    CoordinateTransform(const CoordinateTransform &transform);
    ~CoordinateTransform();
    CoordinateTransform& operator= (const CoordinateTransform &transform);
    std::vector<double> getTransformation() const;
    std::vector<double> calcReferenceTrajectory(const double &s) const;
    std::vector<double> getUnitTangentVector(const double &s) const;
private:
    void calcSCoordinate(const double &xlab, const double &ylab);
    void calcXCoordinate(const double &xlab, const double &ylab);
    void transformFromEntranceCoordinates(std::vector<double> &coordinates,
                                          const double &boundingBoxLength);
    double s_0_m;
    double lambdaleft_m;
    double lambdaright_m;
    double rho_m;
    double x_m;
    double z_m;
    double s_m;
    static const double error;
    static const int workspaceSize;
    static const int algorithm;
};
 
double getUnitTangentVectorX(double s, void *p);
double getUnitTangentVectorY(double s, void *p);
 
}
#endif