line2d.h

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#ifndef LINE2D_H
#define LINE2D_H

#include "tuw_geometry/polar2d.h"
#include <cstdio>

namespace tuw {
class Line2D; 
using Line2DPtr = std::shared_ptr< Line2D > ;
using Line2DConstPtr = std::shared_ptr< Line2D const>;

class Line2D : public cv::Vec<double,3> {
public:
    Line2D();
    Line2D ( const Line2D &l );
    Line2D ( cv::Vec<double,3> &l, bool normalize = true );
    Line2D ( const double &x0, const double &y0, const double &x1, const double &y1, bool normalize = true );
    Line2D ( const Point2D &pt1, const Point2D &pt2, bool normalize = true );
    double &a();
    const double &a() const;
    double &b();
    const double &b() const;
    double &c();
    const double &c() const;
    void normalize();
    double distanceTo ( const double &x, const double &y )  const;
    double distanceTo ( const Point2D &p )  const;
    Point2D pointOnLine ( const double &x, const double &y ) const;
    Point2D pointOnLine ( const Point2D &p ) const;
    Point2D intersection ( const Line2D &l ) const;
    cv::Vec<double,2> normal() const;
    Line2D &set ( const double &x0, const double &y0, const double &x1, const double &y1, bool normalize = true );
    Line2D &set ( const Point2D &p0, const Point2D &p1, bool normalize = true );
    cv::Vec<double,3> &cv ();
    const cv::Vec<double,3> &cv () const;
    Polar2D toPolar() const;
    
    
    friend std::ostream &operator << ( std::ostream &os, const Line2D &o ) {
        os << "[" << o.a() <<  ", " << o.b() << ", " << o.c() << "]";
        return os;
    };

};

};
#endif // LINE2D_H