segment.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
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00035 
00036 #ifndef JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_
00037 #define JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_
00038 
00039 #include <iostream>
00040 #include "jsk_recognition_utils/geo/line.h"
00041 
00042 
00043 namespace jsk_recognition_utils
00044 {
00045   class Plane;
00046   class Segment: public Line
00047   {
00048   public:
00049     typedef boost::shared_ptr<Segment> Ptr;
00050     Segment(const Eigen::Vector3f& from, const Eigen::Vector3f to);
00051     virtual void foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const;
00052     virtual double dividingRatio(const Eigen::Vector3f& point) const;
00053     virtual double distance(const Eigen::Vector3f& point) const;
00054     virtual double distance(const Eigen::Vector3f& point, Eigen::Vector3f& foot_point) const;
00055     virtual bool intersect(Plane& plane, Eigen::Vector3f& point) const;
00056     //virtual double distance(const Segment& other);
00057     friend std::ostream& operator<<(std::ostream& os, const Segment& seg);
00058   protected:
00059     Eigen::Vector3f from_, to_;
00060   private:
00061   };
00062 }
00063 
00064 #endif


jsk_recognition_utils
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autogenerated on Wed Sep 16 2015 04:36:01