StraightLine2D.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLMath/src/ICLMath/StraightLine2D.h                   **
** Module : ICLMath                                                **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
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** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
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**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/CompatMacros.h>
#include <ICLUtils/Point32f.h>
#include <ICLUtils/Exception.h>
#include <ICLMath/FixedVector.h>

namespace icl{
  namespace math{


    struct ICLMath_API StraightLine2D{
      typedef FixedColVector<float,2> PointPolar;

      typedef FixedColVector<float,2> Pos;

      StraightLine2D(float angle, float distance);

      StraightLine2D(const Pos &o=Pos(0,0), const Pos &v=Pos(0,0));

      StraightLine2D(const utils::Point32f &o, const utils::Point32f &v);

      Pos o;

      Pos v;

      float distance(const Pos &p) const;

      /* result is positive if p is left of this->v
          and negative otherwise */
      float signedDistance(const Pos &p) const;

      inline float distance(const utils::Point32f &p) const {
        return distance(Pos(p.x,p.y));
      }

      /* result is positive if p is left of this->v
          and negative otherwise */
      float signedDistance(const utils::Point32f &p) const {
        return signedDistance(Pos(p.x,p.y));
      }


      Pos intersect(const StraightLine2D &o) const;

      PointPolar getAngleAndDistance() const;

      Pos getClosestPoint(const Pos &p) const;
    };
  } // namespace math
}