segment.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7

#include "jsk_recognition_utils/geo/segment.h"
#include "jsk_recognition_utils/geo_util.h"
namespace jsk_recognition_utils
{
  Segment::Segment(const Eigen::Vector3f& from, const Eigen::Vector3f to):
    Line(from - to, from), from_(from), to_(to)
  {
    
  }

  double Segment::dividingRatio(const Eigen::Vector3f& point) const
  {
    if (to_[0] != from_[0]) {
      return (point[0] - from_[0]) / (to_[0] - from_[0]);
    }
    else if (to_[1] != from_[1]) {
      return (point[1] - from_[1]) / (to_[1] - from_[1]);
    }
    else {
      return (point[2] - from_[2]) / (to_[2] - from_[2]);
    }
  }
  
  void Segment::foot(const Eigen::Vector3f& from, Eigen::Vector3f& output) const
  {
    Eigen::Vector3f foot_point;
    Line::foot(from, foot_point);
    double r = dividingRatio(foot_point);
    if (r < 0.0) {
      output = from_;
    }
    else if (r > 1.0) {
      output = to_;
    }
    else {
      output = foot_point;
    }
  }

  double Segment::distance(const Eigen::Vector3f& point) const
  {
    Eigen::Vector3f foot_point;
    return distance(point, foot_point);
  }

  double Segment::distance(const Eigen::Vector3f& point,
                           Eigen::Vector3f& foot_point) const
  {
    foot(point, foot_point);
    return (foot_point - point).norm();
  }

  bool Segment::intersect(Plane& plane, Eigen::Vector3f& point) const
  {
    double x = - (plane.getNormal().dot(origin_) + plane.getD()) / (plane.getNormal().dot(direction_));
    point = direction_ * x + origin_;
    double r = dividingRatio(point);
    return 0 <= r && r <= 1.0;
  }

  std::ostream& operator<<(std::ostream& os, const Segment& seg)
  {
    os << "[" << seg.from_[0] << ", " << seg.from_[1] << ", " << seg.from_[2] << "] -- "
       << "[" << seg.to_[0] << ", " << seg.to_[1] << ", " << seg.to_[2] << "]";
  }

}