line2d.h

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// -*- mode: c++ -*-
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#ifndef JSK_FOOTSTEP_PLANNER_LINE2D_H_
#define JSK_FOOTSTEP_PLANNER_LINE2D_H_
 
#include <pcl/point_types.h>
#include <boost/shared_ptr.hpp>
 
namespace jsk_footstep_planner
{
  class Line2D
  {
  public:
    typedef boost::shared_ptr<Line2D> Ptr;
    Line2D(const Eigen::Vector3f& p, const Eigen::Vector3f& q);
    virtual bool isCrossing(Line2D& other);
  protected:
    Eigen::Vector2f u_;
    Eigen::Vector2f v_;
  private:
    
  };
}
 
#endif