Program Listing for File line2d.cpp

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#include "tuw_geometry/line2d.hpp"

#include "iostream"

using namespace tuw;
Line2D::Line2D() {}
Line2D::Line2D(const Line2D & l)
: cv::Vec<double, 3>(l) {}
Line2D::Line2D(cv::Vec<double, 3> & l, bool normalize)
: cv::Vec<double, 3>(l)
{
  if (normalize) {
    this->normalize();
  }
}
Line2D::Line2D(
  const double & x0, const double & y0, const double & x1, const double & y1, bool normalize)
{
  set(x0, y0, x1, y1, normalize);
}
Line2D::Line2D(const Point2D & p0, const Point2D & p1, bool normalize) {set(p0, p1, normalize);}
double & Line2D::a() {return this->val[0];}
const double & Line2D::a() const {return this->val[0];}
double & Line2D::b() {return this->val[1];}
const double & Line2D::b() const {return this->val[1];}
double & Line2D::c() {return this->val[2];}
const double & Line2D::c() const {return this->val[2];}
void Line2D::normalize()
{
  double r = sqrt(this->val[0] * this->val[0] + this->val[1] * this->val[1]);
  this->val[0] /= r, this->val[1] /= r, this->val[2] /= r;
}
double Line2D::distanceTo(const double & x, const double & y) const
{
  return this->val[0] * x + this->val[1] * y + this->val[2];
}
double Line2D::distanceTo(const Point2D & p) const {return distanceTo(p.x(), p.y());}
Point2D Line2D::pointOnLine(const double & x, const double & y) const
{
  double d = distanceTo(x, y);
  return Point2D(x - d * a(), y - d * b());
}
Point2D Line2D::pointOnLine(const Point2D & p) const {return pointOnLine(p.x(), p.y());}
Point2D Line2D::intersection(const Line2D & l) const
{
  cv::Vec<double, 3> h = this->cross(l);
  return Point2D(h[0] / h[2], h[1] / h[2]);
}
cv::Vec<double, 2> Line2D::normal() const {return cv::Vec<double, 2>(this->val[0], this->val[1]);}
Line2D & Line2D::set(
  const double & x0, const double & y0, const double & x1, const double & y1, bool normalize)
{
  this->val[0] = y0 - y1, this->val[1] = x1 - x0,
  this->val[2] = x0 * y1 - y0 * x1;
  if (normalize) {
    this->normalize();
  }
  return *this;
}
Line2D & Line2D::set(const Point2D & p0, const Point2D & p1, bool normalize)
{
  return set(p0.x(), p0.y(), p1.x(), p1.y(), normalize);
}
cv::Vec<double, 3> & Line2D::cv() {return *this;}
const cv::Vec<double, 3> & Line2D::cv() const {return *this;}
Polar2D Line2D::toPolar() const
{
  Point2D p(-c() * a(), -c() * b());  // nearest point to origin
  return Polar2D(p.angle(), fabs(c()));
}