simutils.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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#ifndef G2O_SIMUTILS_H_
#define G2O_SIMUTILS_H_

#include "simulator2d_base.h"
#include "pointsensorparameters.h"
#include "g2o_simulator_api.h"

namespace g2o {
  // -1: outside
  // 0: p1Clipped
  // 1: p2clipped
  // 2: inside
  // 3: all clipped

  G2O_SIMULATOR_API int clipSegmentCircle(Eigen::Vector2d& p1, Eigen::Vector2d& p2, double r);

  // -1: outside
  // 0: p1Clipped
  // 1: p2clipped
  // 2: inside
  G2O_SIMULATOR_API int clipSegmentLine(Eigen::Vector2d& p1, Eigen::Vector2d& p2, double a, double b, double c );
  

  // -1: outside
  // 0: p1Clipped
  // 1: p2clipped
  // 2: inside
  // 3: all clipped
  G2O_SIMULATOR_API int clipSegmentFov(Eigen::Vector2d& p1, Eigen::Vector2d& p2, double min, double max);

  
  G2O_SIMULATOR_API Eigen::Vector2d computeLineParameters(const Eigen::Vector2d& p1, const Eigen::Vector2d& p2);
}

#endif