World model is now operational

luprex/syscpp/planemap.hpp

@@ -74,8 +74,10 @@
 #define PLANEMAP_HPP
 
 #include <cstdint>
+#include <cstddef>
 #include <vector>
 #include <map>
+#include "util.hpp"
 
 class PlaneMap;
 
@@ -85,20 +87,38 @@ class PlaneItem {
 private:
     PlaneMap *pmap_;
     std::string plane_;
-    double x_, y_, z_;
+    util::XYZ xyz_;
 
 public:
     PlaneItem();
     ~PlaneItem();
 
     const std::string &plane() const { return plane_; }
-    const double x() const { return x_; }
-    const double y() const { return y_; }
-    const double z() const { return z_; }
+    const util::XYZ &xyz() const { return xyz_; }
+    const float x() const { return xyz_.x; }
+    const float y() const { return xyz_.y; }
+    const float z() const { return xyz_.z; }
 
     void untrack();
-    void set_pos(const std::string &plane, double x, double y, double z);
-    void set_xyz(double x, double y, double z) { set_pos(plane_, x, y, z); }
+    void set_pos(const std::string &plane, const util::XYZ &xyz);
+    void set_pos(const std::string &plane, float x, float y, float z) { set_pos(plane, util::XYZ(x,y,z)); }
+    void set_xyz(const util::XYZ &xyz) { set_pos(plane_, xyz); }
+    void set_xyz(float x, float y, float z) { set_pos(plane_, util::XYZ(x, y, z)); }
+    
+    // Assume that some other object has methods 'get_plane' and 'get_xyz'.
+    // Get the plane and XYZ from that object and store it in this PlaneItem.
+    template<class T>
+    void set_pos_from(const T &obj) {
+        set_pos(obj.get_plane(), obj.get_xyz());
+    }
+
+    // Assume that the PlaneItem is a field in an object of class T.
+    // Static cast the PlaneItem pointer to a type T pointer.
+    template<class T>
+    T *static_field_cast() {
+        const std::size_t offset = offsetof(T, plane_item_);
+        return reinterpret_cast<T*>(reinterpret_cast<char*>(this) - offset);
+    }
 };
 
 class PlaneMap {
@@ -114,7 +134,7 @@ public:
     PlaneMap();
     ~PlaneMap();
     void track(PlaneItem *item);
-    EltVec scan_radius(const std::string &plane, double x, double y, double radius) const;
+    EltVec scan_radius(const std::string &plane, float x, float y, float radius) const;
     
 private:
     // unit testing stuff.