Vector2D

rcsc/geom/vector_2d.h

This class represents a point in a 2D space.

Where O is the origin, that is, the field center. Do not forget that the y axis is inverted in the simulator. Thus, the quadrant in which the point is on the image below is positive (x, y).

The points are:

double x; // point in X
double y; // point in Y
 
// default constructor
Vector2D() : x( 0.0 ), y( 0.0 ) { }
 
// assignment constructor
Vector2D( const double & xx, const double & yy ) : x( xx ), y( yy ) { }

There are several utility methods on this class, so do not waste your time trying to rewrite them. To see them all, look for rcsc/geom/vector_2d.h in the same folder librcsc was installed. There's a brief explanation for all methods in that file.

The Vector2D parameter used in the methods below will use the Vector2D parameters passedn in the constructor as the origin.

double r2() const      // squared value
double r() const       // distance
double norm() const    // normalized value 
double norm2() const   // squared normalized value
double length() const  //
double length2() const // squared length
AngleDeg th() const    // angle relative to the point
AngleDeg dir() const   
Vector2D abs() const   // absolute value 
double absX() const    // absolute value of x
double absY() const    // absolute value of y
Vector2D & add( const Vector2D & v )                    // sum two Vector2D points
Vector2D & add( const double & xx, const double & yy )  // sum (x, y) to a Vector2D point
Vector2D & scale( const double & scalar )               // scalar multiplication
double dist2( const Vector2D & p ) const   // squared distance from p (x1-x2)² + (y1-y2)²
double dist( const Vector2D & p ) const    // Euclidian distance from p √((x1-x2)² + (y1-y2)²)
 
bool equals( const Vector2D & other ) const // checks equal distance to a Vector2D point 
Vector2D & rotate( const double & deg )     // rotates a Vector2D using an angle value deg (returns the pointer reference)
Vector2D & rotate( const AngleDeg & angle ) // rotates a Vector2D using an angle of type AngleDeg (returns a new Vector2D)
Vector2D & setDir( const AngleDeg & dir )   // sets an angle to a Vector2D

You can check this library for more methods such as printing, comparison, division, subtraction, etc.