public void addPoint(JagPoint p)
{
points.Add(p);
}
public double distanceFrom(JagPoint a)
{
return JagPoint.distanceBetween(a,this);
}
public static double slopeTheta(JagPoint a, JagPoint b)
{
return Math.Atan2(b.y - a.y, b.x - a.x);
}
public static double distanceBetween(JagPoint a, JagPoint b)
{
return Math.Sqrt(Math.Pow(a.x-b.x,2)+Math.Pow(a.y-b.y,2));
}
public Boolean isWithinTheshhold(double threshhold, JagPoint a)
{
if (getTargetPoint().distanceFrom(a) < threshhold)
{
return true;
}
else
{
return false;
}
}
private void drawPoint(Graphics g, Pen pen, int xCenter, int yCenter, JagPoint p)
{
//Draw x,y
int radius = 5;
int xPoint = (int)(p.x * mapResolution);
int yPoint = (int)(p.y * mapResolution);
g.DrawEllipse(pen, new Rectangle(xCenter + xPoint - radius, yCenter - yPoint - radius, 2 * radius, 2 * radius));
//Draw theta
if (p.hasTheta())
{
int dy = (int)(3 * radius * Math.Sin(p.theta));
int dx = (int)(3 * radius * Math.Cos(p.theta));
g.DrawLine(pen, xCenter + xPoint, yCenter - yPoint, xCenter + xPoint + dx, yCenter - yPoint - dy);
}
}