segment.h

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// -*- mode: c++ -*-
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#ifndef JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_
#define JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_

#include <iostream>
#include "jsk_recognition_utils/geo/line.h"


namespace jsk_recognition_utils
{
  class Plane;
  class Segment: public Line
  {
  public:
    typedef boost::shared_ptr<Segment> Ptr;
    Segment(const Eigen::Vector3f& from, const Eigen::Vector3f to);
    virtual void foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const;
    virtual double dividingRatio(const Eigen::Vector3f& point) const;
    virtual double distance(const Eigen::Vector3f& point) const;
    virtual double distance(const Eigen::Vector3f& point, Eigen::Vector3f& foot_point) const;
    virtual bool intersect(Plane& plane, Eigen::Vector3f& point) const;
    //virtual double distance(const Segment& other);
    friend std::ostream& operator<<(std::ostream& os, const Segment& seg);
  protected:
    Eigen::Vector3f from_, to_;
  private:
  };
}

#endif