From ad4173e1c2bb55d2cce827067dfd132e8a6a7ac4 Mon Sep 17 00:00:00 2001
From: Alex Auvolat <alex.auvolat@ens.fr>
Date: Thu, 8 Jan 2015 15:27:47 +0100
Subject: Add geometry functions & various modifications.

---
 problem.hpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

(limited to 'problem.hpp')

diff --git a/problem.hpp b/problem.hpp
index 535affa..10adaf8 100644
--- a/problem.hpp
+++ b/problem.hpp
@@ -16,9 +16,14 @@ struct hilare_a {	// System A
 	// position actuelle
 	double x, y, theta, phi;
 
+	vec pos() const { return vec(x, y); }
+	vec dir() const { return vec::from_polar(1, theta); }
+
 	vec pos_trolley() const {
-		//TODO
-		return vec(0, 0);
+		return pos() + vec::from_polar(l, theta + phi + M_PI);
+	}
+	vec dir_trolley() const {
+		return vec::from_polar(1, theta + phi);
 	}
 };
 
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