Segment.h

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#ifndef SEGMENT_H
#define SEGMENT_H

#include <cmath>
#include <vector>

namespace AprilTags {

class Segment {
public:
  Segment();

  static int const minimumSegmentSize = 4; 
  static float const minimumLineLength; 

  float getX0() const { return x0; }
  void setX0(float newValue) { x0 = newValue; }

  float getY0() const { return y0; }
  void setY0(float newValue) { y0 = newValue; }

  float getX1() const { return x1; }
  void setX1(float newValue) { x1 = newValue; }

  float getY1() const { return y1; }
  void setY1(float newValue) { y1 = newValue; }

  float getTheta() const { return theta; }
  void setTheta(float newValue) { theta = newValue; }

  float getLength() const { return length; }
  void setLength(float newValue) { length = newValue; }

  float segmentLength();

  void printSegment();

  int getId() const { return segmentId; }

  std::vector<Segment*> children;

private:
  float x0, y0, x1, y1;
  float theta; // gradient direction (points towards white)
  float length; // length of line segment in pixels
  int segmentId;
  static int idCounter;
};

} // namsepace

#endif