geom/Location.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/geom/RightHandedVector3D.h"
#include "carla/geom/Vector3D.h"
#include "carla/geom/Vector3DInt.h"
#include "carla/geom/Math.h"
 
#ifdef LIBCARLA_INCLUDED_FROM_UE4
#include <util/enable-ue4-macros.h>
#include "Math/Vector.h"
#include <util/disable-ue4-macros.h>
#endif // LIBCARLA_INCLUDED_FROM_UE4
 
namespace carla {
namespace geom {
 
  struct Location : Vector3D {
 
    // =========================================================================
    // -- Constructors ---------------------------------------------------------
    // =========================================================================
 
    Location() = default;
 
    using Vector3D::Vector3D;
 
    Location(Vector3D rhs) : Vector3D(rhs) {}
 
    constexpr Location(Vector3DInt rhs) :
        Vector3D(static_cast<float>(rhs.x),
                 static_cast<float>(rhs.y),
                 static_cast<float>(rhs.z)) {
    }
 
    // =========================================================================
    // -- Other methods --------------------------------------------------------
    // =========================================================================
 
    constexpr auto DistanceSquared(Location loc) const {
      return Math::DistanceSquared(*this, loc);
    }
 
    inline auto Distance(Location loc) const {
      return Math::Distance(*this, loc);
    }
 
    // =========================================================================
    // -- Right-handed (ROS / FLU) boundary ------------------------------------
    // =========================================================================
 
    /// This location expressed in a right-handed, x-forward / y-**left** /
    /// z-up frame (ROS REP-103 "FLU"): `(x, -y, z)`.
    constexpr RightHandedVector3D ToRightHanded() const {
      return RightHandedVector3D(*this);
    }
 
    /// Inverse of `ToRightHanded()`. Mirroring Y is an involution, so this is
    /// the same `(x, -y, z)` map read the other way.
    static constexpr Location FromRightHanded(const RightHandedVector3D &rhs) {
      return Location(rhs.x, -rhs.y, rhs.z);
    }
 
    // =========================================================================
    // -- Arithmetic operators -------------------------------------------------
    // =========================================================================
 
    constexpr Location &operator+=(Location rhs) {
      static_cast<Vector3D &>(*this) += rhs;
      return *this;
    }
 
    constexpr friend Location operator+(Location lhs, Location rhs) {
      lhs += rhs;
      return lhs;
    }
 
    constexpr Location &operator-=(Location rhs) {
      static_cast<Vector3D &>(*this) -= rhs;
      return *this;
    }
 
    constexpr friend Location operator-(Location lhs, Location rhs) {
      lhs -= rhs;
      return lhs;
    }
 
    // =========================================================================
    // -- Conversions to UE4 types ---------------------------------------------
    // =========================================================================
 
#ifdef LIBCARLA_INCLUDED_FROM_UE4
 
    Location(const FVector &vector) // from centimeters to meters.
      : Location(1e-2f * vector.X, 1e-2f * vector.Y, 1e-2f * vector.Z) {}
 
    operator FVector() const {
      return FVector{1e2f * x, 1e2f * y, 1e2f * z}; // from meters to centimeters.
    }
 
#endif // LIBCARLA_INCLUDED_FROM_UE4
  };
 
    // =========================================================================
    // -- Comparison operators -------------------------------------------------
    // =========================================================================
 
  constexpr bool operator==(Location lhs, Location rhs) {
    return static_cast<Vector3D>(lhs) == static_cast<Vector3D>(rhs);
  }
 
  constexpr bool operator!=(Location lhs, Location rhs) {
    return !(lhs == rhs);
  }
 
} // namespace geom
} // namespace carla