C++ point::imag方法代码示例

double PointLineDistance(const point &a, const point &b, const point &p,
		point &res) {
	double scale = dot(vec(a,b),vec(a,p)) / lengthSqr(vec(a,b));
	res.real() = a.real() + scale * (b.real() - a.real());
	res.imag() = a.imag() + scale * (b.imag() - a.imag());
	return dist(p, res);
}

line pointsToLine(point a, point b) {
	line result;
	result.a=b.imag()-a.imag();
	result.b=a.real()-b.real();
	result.c=a.imag()*b.real()-a.real()*b.imag();
	return result;
}

double get_angle(point a, point b, point c) {
	double ux = b.real() - a.real();
	double uy = b.imag() - a.imag();
	double vx = c.real() - a.real();
	double vy = c.imag() - a.imag();
	return acos(
			(ux * vx + uy * vy)
					/ sqrt((ux * ux + uy * uy) * (vx * vx + vy * vy)));
}

int turn(point O, point A, point B) {
	double res = (A.real() - O.real()) * (B.imag() - O.imag())
			- (A.imag() - O.imag()) * (B.real() - O.real());
	if (res < 0)
		return -1;
	if (res > 0)
		return 1;
	return 0;
}

bool cmpAngle(point a, point b) {
	if (collinear(pivot, a, b))
		return distsqr(pivot,a) < distsqr(pivot, b);
//	return ccw(pivot, a, b);
	double d1x = a.real() - pivot.real();
	double d1y = a.imag() - pivot.imag();
	double d2x = b.real() - pivot.real();
	double d2y = b.imag() - pivot.imag();
	return (atan2(d1y, d1x) - atan2(d2y, d2x) < 0);
}

bool inPolygon(point P, vector<point> poly) {
	bool in = 0;
	int n = poly.size();

	for (int i = 0, j = n - 1; i < n; j = i++) {
		if ((poly[i].imag() <= P.imag() + eps && P.imag() < poly[j].imag())
				|| (poly[j].imag() <= P.imag() + eps
						&& P.imag() < poly[i].imag())) {
			if (P.real() - eps
					< (poly[j].real() - poly[i].real())
							* (P.imag() - poly[i].imag())
							/ (poly[j].imag() - poly[i].imag())
							+ poly[i].real())
				in ^= 1;
		}
	}
	return in;
}

point closestPoint(line l, point p) {
	ld d=l.a*l.a+l.b*l.b;
	point result( (l.b*l.b*p.real()-l.a*l.c-l.a*l.b*p.imag())/d ,
		(l.a*l.a*p.imag()-l.b*l.c-l.a*l.b*p.real())/d );
	return result;
}

double cross_p(point p, point q, point r) {
	return (r.real() - q.real()) * (p.imag() - q.imag())
			- (r.imag() - q.imag()) * (p.real() - q.real());
}

int crossProd(point a, point b) {
	return a.real() * b.imag() - a.imag() * b.real();
}

bool cmpPoint(point a, point b) {
	if (a.real() == b.real())
		return a.imag() < b.imag();
	return a.real() < b.real();
}

void display1()
{
	vector<double> color;
	double low  = (vh[0]+0.9)/map_a/1.8 - map_b;
	double high = (vh[1]+0.9)/map_a/1.8 - map_b;

	// style
	glLineWidth(1);
	glPointSize(3);

	// ground
	const double gsize = 50.0;
	double gr_x = floor(robot.x);
	double gr_y = floor(robot.y);

	setColor(config["ground-panel"]);
	glBegin(GL_POLYGON);
	glVertex3d(gr_x+gsize, gr_y+gsize, 0.0);
	glVertex3d(gr_x-gsize, gr_y+gsize, 0.0);
	glVertex3d(gr_x-gsize, gr_y-gsize, 0.0);
	glVertex3d(gr_x+gsize, gr_y-gsize, 0.0);
	glEnd();

	setColor(config["ground-line"]);
	glBegin(GL_LINES);
	for(int i=-gsize; i<=gsize; i++)
	{
		glVertex3d(gr_x+i*1.0, gr_y-gsize, 0.0);
		glVertex3d(gr_x+i*1.0, gr_y+gsize, 0.0);
		glVertex3d(gr_x-gsize, gr_y+i*1.0, 0.0);
		glVertex3d(gr_x+gsize, gr_y+i*1.0, 0.0);
	}
	glEnd();

	// style
	glLineWidth(3);

	// robot
	glColor3d(1.0, 1.0, 1.0);
	drowCross(robot, glpos.data.theta, 1.0);

	// adjust
	if(disp_lajst)
	{
		glColor3d(0.0, 1.0, 1.0);
		drowCross(triple(lajst.data.x, lajst.data.y, 0.0), lajst.data.theta, 0.5);		
	}
	if(disp_eajst)
	{
		glColor3d(0.0, 1.0, 0.0);
		drowCross(triple(eajst.data.x, eajst.data.y, 0.0), eajst.data.theta, 0.5);		
	}

#ifdef MERGEDEBUG
	glColor3d(1.0, 0.0, 1.0);
	drowCross(triple(mergecenter.real(), mergecenter.imag(), 0.0), eajst.data.theta, 0.5);		
#endif


	// gridmap
	if(disp_map)
	{
		color = config["map-points"];
		glBegin(GL_POINTS);
		for(int i=0; i<gridmap.size(); i++)
		{
			if(low<=gridmap[i].z && gridmap[i].z<=high)
			{
				setColor(color, map_a*(map_b+gridmap[i].z));
				if(view2d) glVertex2dv(gridmap[i].vec);
				else       glVertex3dv(gridmap[i].vec);
			}
		}
		glEnd();
	}

	// scan data
	for(int i=0; i<stream_num; i++)
	{
		// scan point
		if(!disp_sdata[i]) continue;

		glBegin(GL_POINTS);
		color = config[strprintf("urg-points-%d",i)];
		for(int j=0; j<sdata[i].property.numPoints; j++)
		{
			if(sdata[i].data[j].isError()) continue;

			triple ref(sdata[i].data[j].reflect.vec);
			if(low<=ref.z && ref.z<=high)
			{
				ref.rotZ(glpos.data.theta);
				setColor(color, map_a*(map_b+ref.z));
				glVertex3dv( (robot+ref).vec );
			}
		}
		glEnd();

		// scan laser
		if(!disp_laser) continue;
//.........这里部分代码省略.........

 bool operator()(const point &a, const point &b) const
 {
     if (!Equal(a.real(), b.real()))
         return a.real() < b.real();
     return a.imag() < b.imag();
 }

double cross(point a, point b)
{
  return (a.real() * b.imag() - a.imag() * b.real());
}

double dot(point a, point b)
{
  return (a.real() * b.real() + a.imag() * b.imag());
}

 inline
 bool operator < (point a, point b){
   if(a.real() != b.real())return a.real() < b.real();
   return a.imag() < b.imag();
 }