position.hpp

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#pragma once
 
#include <functional>
#include <rclcpp/rclcpp.hpp>
 
namespace common_lib::structures {
struct Position {
  double x = 0;
  double y = 0;
  double x_noise = 0;
  double y_noise = 0;
  rclcpp::Time timestamp = rclcpp::Time(0);  //< Last time the position was updated
 
  Position() = default;
 
  Position(double x, double y, double x_noise = 0.0, double y_noise = 0.0,
           rclcpp::Time timestamp = rclcpp::Time(0));
  double euclidean_distance(const Position &other) const;
 
  friend bool operator==(const Position &p1, const Position &p2) {
    return std::abs(p1.x - p2.x) < 1e-10 && std::abs(p1.y - p2.y) < 1e-10;
  }
};
 
double cross_product(const Position &p1, const Position &p2, const Position &p3);
 
double euclidean_distance(const Position &p1, const Position &p2);
 
bool operator<(const Position &lhs, const Position &rhs);
 
}  // namespace common_lib::structures
 
namespace std {
template <>
struct hash<common_lib::structures::Position> {
  std::size_t operator()(const common_lib::structures::Position &position) const noexcept {
    std::size_t x_hash = std::hash<double>()(position.x);
    std::size_t y_hash = std::hash<double>()(position.y);
    return x_hash ^ (y_hash << 1);
  }
};
}  // namespace std