LocTuple.java

package com.roboclub.robobuggy.nodes.localizers;


/**
 * Private class used for representing a latitude and longitude combination
 */
public class LocTuple {
    private double latitude;
    private double longitude;

    /**
     * Construct a new {@link LocTuple}
     *
     * @param latitude  latitude
     * @param longitude longitude
     */
    public LocTuple(double latitude, double longitude) {
        this.latitude = latitude;
        this.longitude = longitude;
    }

    /**
     * Returns the latitude of the {@link LocTuple}
     *
     * @return the latitude of the {@link LocTuple}
     */
    public double getLatitude() {
        return latitude;
    }

    /**
     * Returns the longitude of the {@link LocTuple}
     *
     * @return the longitude of the {@link LocTuple}
     */
    public double getLongitude() {
        return longitude;
    }

    /**
     * Determines the magnitude of the difference between two {@link LocTuple}
     * objects (in degrees)
     *
     * @param loc {@link LocTuple} to compare to
     * @return difference between the two {@link LocTuple} objects (in degrees)
     */
    public double getMagDiff(LocTuple loc) {
        return Math.sqrt(Math.pow(this.latitude - loc.latitude, 2) +
                Math.pow(this.longitude - loc.longitude, 2));
    }

    /**
     * Returns the clockwise angle (in degrees) of the location from the
     * positive y-axis (North)
     *
     * @return clockwise angle (in degrees)
     */
    public double getHeadingAngle() {
        return ((Math.toDegrees(Math.atan2(latitude, longitude)) - 90.0) + 360.0) % 360.0;
    }

    /**
     * Subtracts two {@link LocTuple}s
     *
     * @param lt1 {@link LocTuple} 1
     * @param lt2 {@link LocTuple} 2
     * @return {@link LocTuple} representing lt1-lt2
     */
    public static LocTuple subtract(LocTuple lt1, LocTuple lt2) {
        double lat = lt1.latitude - lt2.latitude;
        double lon = lt1.longitude - lt2.longitude;
        return new LocTuple(lat, lon);
    }
}