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Edge.h

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#ifndef __Edge_H__
#define __Edge_H__

#include "Vector2.h"
#include "Interpolation.h"

#include <cmath>

namespace EdgeDetection
{
        // Represents a two-dimensional edge by offset and angle
        class Edge
        {
                private: double offset;
                private: double angle;

                public: double GetOffset() { return offset; }
                public: double GetAngle() { return angle; }
                public: Vector2 GetCenter() { return Vector2::Multiply(offset, Vector2(angle)); }

                public: Edge()
                {
                        this->offset = 0;
                        this->angle = 0;
                }
                public: Edge(double offset, double angle)
                {
                        this->offset = offset;
                        this->angle = angle;

                        while (this->angle < -M_PI) this->angle += 2 * M_PI;
                        while (this->angle > +M_PI) this->angle -= 2 * M_PI;
                }
                public: ~Edge() { }

                public: static double GetDistance(Edge edge1, Edge edge2)
                {
                        while (edge1.angle - edge2.angle < -M_PI) edge1.angle += 2 * M_PI;
                        while (edge1.angle - edge2.angle > +M_PI) edge1.angle -= 2 * M_PI;

                        double offsetDifference = edge1.offset - edge2.offset;
                        double angleDifference = edge1.angle - edge2.angle;
        
                        return Vector2(offsetDifference, angleDifference).GetLength();
                }
                public: static Edge Interpolate(Edge edge1, Edge edge2, double fraction)
                {
                        while (edge1.angle - edge2.angle < -M_PI) edge1.angle += 2 * M_PI;
                        while (edge1.angle - edge2.angle > +M_PI) edge1.angle -= 2 * M_PI;

                        double offset = Interpolation::InterpolateForward(edge1.offset, edge2.offset, fraction);
                        double angle = Interpolation::InterpolateForward(edge1.angle, edge2.angle, fraction);

                        return Edge(offset, angle);
                }
        };
};

#endif

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aruco_pose
Author(s): Julian Brunner
autogenerated on Tue Dec 4 01:11:15 2012