Annotation of /jis2prim/Assumption.hAnnotation of /jis2prim/Assumption.h
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Revision: 1.3 - (view) (download) (as text)
| 1 : | ktanaka | 1.1 | #ifndef _ASSUMPTION_H |
| 2 : | #define _ASSUMPTION_H | ||
| 3 : | ktanaka | 1.3 | #include <vector> |
| 4 : | #include <iostream> | ||
| 5 : | ktanaka | 1.1 | |
| 6 : | enum PtypeMask{ | ||
| 7 : | TenMask=1<<0, | ||
| 8 : | YokoMask=1<<1, | ||
| 9 : | TateMask=1<<2, | ||
| 10 : | ktanaka | 1.2 | HidariMask=1<<3, |
| 11 : | TatehaneMask=1<<4, | ||
| 12 : | TatehidariMask=1<<5, | ||
| 13 : | ktanaka | 1.1 | }; |
| 14 : | enum JointType{ | ||
| 15 : | Start, | ||
| 16 : | JointStart, | ||
| 17 : | Mid, | ||
| 18 : | End, | ||
| 19 : | JointEnd, | ||
| 20 : | }; | ||
| 21 : | |||
| 22 : | class SimpleAssumption{ | ||
| 23 : | ktanaka | 1.3 | friend std::ostream& operator<<(std::ostream &os,const SimpleAssumption &sa); |
| 24 : | ktanaka | 1.1 | protected: |
| 25 : | PtypeMask pmask; | ||
| 26 : | JointType jtype; | ||
| 27 : | ktanaka | 1.2 | double x, y; |
| 28 : | ktanaka | 1.1 | int angle; |
| 29 : | ktanaka | 1.2 | int hint; |
| 30 : | ktanaka | 1.1 | public: |
| 31 : | ktanaka | 1.2 | SimpleAssumption(PtypeMask pm, JointType jt,double xx,double yy, int a,int h) |
| 32 : | :pmask(pm), jtype(jt), x(xx), y(yy), angle(a), hint(h){} | ||
| 33 : | ktanaka | 1.1 | }; |
| 34 : | class AndAssumption{ | ||
| 35 : | ktanaka | 1.3 | friend std::ostream& operator<<(std::ostream &os,const AndAssumption &aa); |
| 36 : | ktanaka | 1.1 | protected: |
| 37 : | ktanaka | 1.3 | std::vector<SimpleAssumption> saList; |
| 38 : | ktanaka | 1.1 | public: |
| 39 : | AndAssumption& add(const SimpleAssumption &sa){ | ||
| 40 : | saList.push_back(sa); | ||
| 41 : | return *this; | ||
| 42 : | } | ||
| 43 : | }; | ||
| 44 : | class Assumption{ | ||
| 45 : | ktanaka | 1.3 | friend std::ostream& operator<<(std::ostream &os,const Assumption &as); |
| 46 : | ktanaka | 1.1 | private: |
| 47 : | ktanaka | 1.3 | std::vector<AndAssumption> aaList; |
| 48 : | ktanaka | 1.1 | public: |
| 49 : | Assumption& add(const AndAssumption &sa){ | ||
| 50 : | aaList.push_back(sa); | ||
| 51 : | return *this; | ||
| 52 : | } | ||
| 53 : | ktanaka | 1.2 | Assumption& add(const SimpleAssumption &sa){ |
| 54 : | aaList.push_back(AndAssumption().add(sa)); | ||
| 55 : | return *this; | ||
| 56 : | } | ||
| 57 : | ktanaka | 1.1 | }; |
| 58 : | ktanaka | 1.3 | std::ostream& operator<<(std::ostream &os,const SimpleAssumption &sa){ |
| 59 : | ktanaka | 1.1 | os << "SimpleAssumption(pmask=" << (int)(sa.pmask) << ",jtype=" << (int)(sa.jtype) |
| 60 : | ktanaka | 1.2 | << ",x=" << sa.x << ",y=" << sa.y << ",angle=" << sa.angle |
| 61 : | << ",hint=" << sa.hint << ")"; | ||
| 62 : | ktanaka | 1.1 | return os; |
| 63 : | } | ||
| 64 : | ktanaka | 1.3 | std::ostream& operator<<(std::ostream &os,const AndAssumption &aa){ |
| 65 : | std::vector<SimpleAssumption>::const_iterator it; | ||
| 66 : | ktanaka | 1.2 | if(aa.saList.size()==1){ |
| 67 : | return os << *(aa.saList.begin()); | ||
| 68 : | } | ||
| 69 : | ktanaka | 1.1 | os << "AndAssumption("; |
| 70 : | for(it=aa.saList.begin(); it!=aa.saList.end(); it++){ | ||
| 71 : | os << *it << ' '; | ||
| 72 : | } | ||
| 73 : | os << ")"; | ||
| 74 : | return os; | ||
| 75 : | } | ||
| 76 : | ktanaka | 1.3 | std::ostream& operator<<(std::ostream &os,const Assumption &a){ |
| 77 : | std::vector<AndAssumption>::const_iterator it; | ||
| 78 : | ktanaka | 1.2 | if(a.aaList.size()==1){ |
| 79 : | return os << *(a.aaList.begin()); | ||
| 80 : | } | ||
| 81 : | ktanaka | 1.1 | os << "Assumption("; |
| 82 : | for(it=a.aaList.begin(); it!=a.aaList.end(); it++){ | ||
| 83 : | os << *it << ' '; | ||
| 84 : | } | ||
| 85 : | os << ")"; | ||
| 86 : | return os; | ||
| 87 : | } | ||
| 88 : | |||
| 89 : | #endif /* _ASSUMPTION_H */ |
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