Line.hpp

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 *  Created on: 26.06.2013.
 *  Author: Dula Nad
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#ifndef LINE_HPP_
#define LINE_HPP_
#include <Eigen/Dense>

namespace labust
{
        namespace math
        {
                class Line
                {
                        enum {xp,yp,zp};
                public:
                        Line():
                                Gamma(0),
                                Xi(0),
                                T1(Eigen::Vector3d::Zero()),
                                T2(Eigen::Vector3d::Ones()){};
                        double calculatedH(double x0, double y0, double z0) const
                        {
                          double Lp = sqrt((T2(xp)-T1(xp))*(T2(xp)-T1(xp))+(T2(yp)-T1(yp))*(T2(yp)-T1(yp)));
                          //Note the minus thingy
                          return ((T2(xp)-T1(xp))*(T1(yp)-y0)-(T1(xp)-x0)*(T2(yp)-T1(yp)))/Lp;
                        }
                        double calculatedV(double x0, double y0, double z0) const
                        {
                          double Lp = sqrt(std::pow(T2(xp)-T1(xp),2) + std::pow(T2(yp)-T1(yp),2));
                          double L = sqrt(Lp*Lp + std::pow(T2(zp) - T1(zp),2));
                          double n = (T2(xp)-T1(xp))*(x0-T1(xp))+(T2(yp)-T1(yp))*(y0-T1(yp));
                          n *= -(T2(zp)-T1(zp));
                          n -= (T1(zp)-z0)*Lp*Lp;

                          return n/(Lp*L);
                        }
                        void setLine(const Eigen::Vector3d& T1, const Eigen::Vector3d& T2)
                        {
                          this->T1 = T1;
                          this->T2 = T2;
                          //select default north line.
                          if ((T1(0) == T2(0)) && (T1(1) == T2(1))) this->T2(0) = -1;

                          this->Gamma = atan2(T2(yp) - T1(yp),T2(xp) - T1(xp));
                          this->Xi = atan2(T2(zp) - T1(zp),
                                        sqrt(std::pow(T2(xp)-T1(xp),2) + std::pow(T2(yp)-T1(yp),2)));
                        }
                        inline const Eigen::Vector3d& getT1()
                        {
                                return T1;
                        }
                        inline const Eigen::Vector3d& getT2()
                        {
                                return T2;
                        }
                        inline double xi(){return this->Xi;};
                        inline double gamma(){return this->Gamma;};

                protected:
                        double Gamma, Xi;
                        Eigen::Vector3d T1,T2;
                };
        }
}

/* LINE_HPP_ */
#endif