001/*
002 * Copyright (C) Photon Vision.
003 *
004 * This program is free software: you can redistribute it and/or modify
005 * it under the terms of the GNU General Public License as published by
006 * the Free Software Foundation, either version 3 of the License, or
007 * (at your option) any later version.
008 *
009 * This program is distributed in the hope that it will be useful,
010 * but WITHOUT ANY WARRANTY; without even the implied warranty of
011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
012 * GNU General Public License for more details.
013 *
014 * You should have received a copy of the GNU General Public License
015 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
016 */
017
018package org.photonvision.targeting;
019
020import edu.wpi.first.util.protobuf.ProtobufSerializable;
021import java.util.Objects;
022import org.photonvision.common.dataflow.structures.PacketSerde;
023import org.photonvision.struct.TargetCornerSerde;
024import org.photonvision.targeting.proto.TargetCornerProto;
025import org.photonvision.targeting.serde.PhotonStructSerializable;
026
027/**
028 * Represents a point in an image at the corner of the minimum-area bounding rectangle, in pixels.
029 * Origin at the top left, plus-x to the right, plus-y down.
030 */
031@SuppressWarnings("doclint")
032public class TargetCorner implements ProtobufSerializable, PhotonStructSerializable<TargetCorner> {
033    public double x;
034    public double y;
035
036    public TargetCorner(double cx, double cy) {
037        this.x = cx;
038        this.y = cy;
039    }
040
041    public TargetCorner() {
042        this(0, 0);
043    }
044
045    @Override
046    public boolean equals(Object o) {
047        if (this == o) return true;
048        if (o == null || getClass() != o.getClass()) return false;
049        TargetCorner that = (TargetCorner) o;
050        return Double.compare(that.x, x) == 0 && Double.compare(that.y, y) == 0;
051    }
052
053    @Override
054    public int hashCode() {
055        return Objects.hash(x, y);
056    }
057
058    @Override
059    public String toString() {
060        return "(" + x + "," + y + ')';
061    }
062
063    /** TargetCorner protobuf for serialization. */
064    public static final TargetCornerProto proto = new TargetCornerProto();
065
066    /** TargetCorner PhotonStruct for serialization. */
067    public static final TargetCornerSerde photonStruct = new TargetCornerSerde();
068
069    @Override
070    public PacketSerde<TargetCorner> getSerde() {
071        return photonStruct;
072    }
073}