line.h

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

#include <Eigen/Geometry>
#include <boost/shared_ptr.hpp>
#include "jsk_recognition_utils/types.h"

namespace jsk_recognition_utils
{
  class Line
  {
  public:
    typedef boost::shared_ptr<Line> Ptr;
    
    Line(const Eigen::Vector3f& direction, const Eigen::Vector3f& origin);

    virtual void getDirection(Eigen::Vector3f& output) const;

    virtual Eigen::Vector3f getDirection() const;

    virtual void getOrigin(Eigen::Vector3f& output) const;

    virtual Eigen::Vector3f getOrigin() const;

    virtual double distanceToPoint(const Eigen::Vector3f& from) const;

    virtual double distanceToPoint(const Eigen::Vector3f& from,
                                   Eigen::Vector3f& foot) const;

    virtual double distance(const Line& other) const;

    virtual void foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const;

    virtual double angle(const Line& other) const;

    virtual bool isParallel(const Line& other, double angle_threshold = 0.1) const;
    
    virtual bool isPerpendicular(const Line& other, double angle_threshold = 0.1) const;

    virtual Ptr midLine(const Line& other) const;

    virtual Ptr parallelLineOnAPoint(const Eigen::Vector3f& p) const;

    virtual PointPair findEndPoints(const Vertices& points) const;

    virtual double computeAlpha(const Point& p) const;

    virtual bool isSameDirection(const Line& other) const;

    virtual Line::Ptr flip();

    virtual void parallelLineNormal(const Line& other, Eigen::Vector3f& output) const;

    static Ptr fromCoefficients(const std::vector<float>& coefficients);

    virtual void print();
    
    virtual void point(double alpha, Eigen::Vector3f& ouptut);
  protected:
    Eigen::Vector3f direction_;
    Eigen::Vector3f origin_;
  private:
  };

}

#endif