/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  This program is free software, you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *  GNU Library General Public License for more details. * *  This file is created by: Ahmad Boorghany *  and is modified by: Mohammad Salehe, Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <cmath>#include <Vector.h>#include <Degree.h>#include <Defines.h>#include <cassert>using namespace std;// Vector operatorsVector::Vector(){}Vector::Vector(const Point &point){	setAsCartesian(point.x, point.y);}Vector operator+(const Vector &Vector1, const Vector &Vector2){	Vector retVector;	retVector.setAsCartesian(Vector1.getX() + Vector2.getX(),							 Vector1.getY() + Vector2.getY());	return retVector;}Vector operator-(const Vector &Vector1, const Vector &Vector2){	Vector retVector;	retVector.setAsCartesian(Vector1.getX() - Vector2.getX(),							 Vector1.getY() - Vector2.getY());	return retVector;}Vector operator+(const Vector &Vector1) // Sassan{	return Vector1;}Vector operator-(const Vector &Vector1) // Sassan{	Vector retVector;	retVector.setAsCartesian(-Vector1.getX(), -Vector1.getY());	return retVector;}Vector operator*(const Vector &Vector1, float rate){	Vector retVector;	retVector.setAsCartesian(Vector1.getX() * rate, Vector1.getY() * rate);	return retVector;}Vector operator/(const Vector &Vector1, float rate){	if (rate)	{		Vector retVector;		retVector.setAsCartesian(Vector1.getX() / rate, Vector1.getY() / rate);		return retVector;	}	else	{		cout << "Devision By Zero" << endl;		assert(0);		Vector retVector;		retVector.setAsCartesian(0, 0);		return retVector;	}}Vector& Vector::operator+=(const Vector &Vector1){	setAsCartesian(x + Vector1.getX(), y + Vector1.getY());	return *this;}Vector& Vector::operator-=(const Vector &Vector1){	setAsCartesian(x - Vector1.getX(), y - Vector1.getY());	return *this;}Vector& Vector::operator*=(const float rate){	setAsCartesian(x * rate, y * rate);	return *this;}Vector& Vector::operator/=(const float rate){	setAsCartesian(x / rate, y / rate);	return *this;}Vector::operator Point() const{    return asPoint();}ostream &operator<<(ostream &stream, const Vector &vector){	stream << "(" << vector.getX() << "," << vector.getY() << ")";	return stream;}// class Vectorvoid Vector::setAsCartesian(float xArg, float yArg){	x = xArg;	y = yArg;	magnitude = hypot(x, y);	direction = Degree::normalizeAngle(Degree::arcTan2(y, x));}void Vector::setAsPolar(float magnitudeArg, float directionArg){	magnitude = magnitudeArg;	direction = Degree::normalizeAngle(directionArg);	x = Degree::cos(direction) * magnitude;	y = Degree::sin(direction) * magnitude;}void Vector::rotate(float rotateDir){	setAsPolar(magnitude, direction + rotateDir);}void Vector::setByDistDirChange(Vector &headVector, float distChange,		float dirChange){	float erX,erY;	float vrX,vrY;	erX = headVector.getX() / headVector.getMagnitude();	erY = headVector.getY() / headVector.getMagnitude();	vrX = distChange * erX -			dirChange * DEG2RAD * headVector.getMagnitude() * erY;	vrY = distChange * erY +			dirChange * DEG2RAD * headVector.getMagnitude() * erX;	setAsCartesian(vrX, vrY);}float Vector::getX() const{	return x;}float Vector::getY() const{	return y;}float Vector::getMagnitude() const{	return magnitude;}float Vector::getDirection() const{	return direction;}Point Vector::asPoint() const{	return Point(x, y);}void Vector::setByPoints(Point startPoint, Point endPoint){	setAsCartesian(endPoint.x - startPoint.x,				   endPoint.y - startPoint.y);}voidVector::normalize(){    if (getMagnitude())        *this /= getMagnitude();}