door_handle_detector: intersections.h Source File

00001 /*
00002  * Copyright (c) 2008 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
00003  *
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  *
00027  * $Id$
00028  *
00029  */
00030 
00033 #ifndef _CLOUD_GEOMETRY_INTERSECTIONS_H_
00034 #define _CLOUD_GEOMETRY_INTERSECTIONS_H_
00035 
00036 // ROS includes
00037 #include <geometry_msgs/Point32.h>
00038 #include <geometry_msgs/Polygon.h>
00039 
00040 namespace cloud_geometry
00041 {
00042 
00043   namespace intersections
00044   {
00045 
00046     bool planeWithPlaneIntersection (const std::vector<double> &plane_a, const std::vector<double> &plane_b, std::vector<double> &line);
00047     bool lineWithPlaneIntersection (const std::vector<double> &plane, const std::vector<double> &line, geometry_msgs::Point32 &point);
00048     bool lineWithLineIntersection (const std::vector<double> &line_a, const std::vector<double> &line_b, geometry_msgs::Point32 &point, double sqr_eps);
00049     bool planeWithCubeIntersection (const std::vector<double> &plane, const std::vector<double> &cube, geometry_msgs::Polygon &polygon);
00050     bool lineToBoxIntersection (const std::vector<double> &line, const std::vector<double> &cube);
00051   }
00052 }
00053 
00054 #endif