96 lines
2.6 KiB
C++
96 lines
2.6 KiB
C++
////////////////////////////////////////////////////////////////////
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// Line.h
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//
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// Copyright 2023 cDc@seacave
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// Distributed under the Boost Software License, Version 1.0
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// (See http://www.boost.org/LICENSE_1_0.txt)
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#ifndef __SEACAVE_LINE_H__
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#define __SEACAVE_LINE_H__
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// I N C L U D E S /////////////////////////////////////////////////
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// D E F I N E S ///////////////////////////////////////////////////
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namespace SEACAVE {
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// S T R U C T S ///////////////////////////////////////////////////
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// Generic line class represented as two points
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template <typename TYPE, int DIMS>
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class TLine
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{
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STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
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public:
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typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
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typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
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typedef SEACAVE::TRay<TYPE,DIMS> RAY;
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enum { numScalar = (2*DIMS) };
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enum { numParams = numScalar-1 };
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POINT pt1, pt2; // line description
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//---------------------------------------
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inline TLine() {}
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inline TLine(const POINT& pt1, const POINT& pt2);
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template <typename CTYPE>
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inline TLine(const TLine<CTYPE,DIMS>&);
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inline void Set(const POINT& pt1, const POINT& pt2);
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int Optimize(const POINT*, size_t, int maxIters=100);
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template <typename RobustNormFunctor>
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int Optimize(const POINT*, size_t, const RobustNormFunctor& robust, int maxIters=100);
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inline TYPE GetLength() const;
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inline TYPE GetLengthSq() const;
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inline POINT GetCenter() const;
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inline VECTOR GetDir() const;
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inline VECTOR GetNormDir() const;
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inline RAY GetRay() const;
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inline bool IsSame(const TLine&, TYPE th) const;
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bool Intersects(const AABB& aabb) const;
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bool Intersects(const AABB& aabb, TYPE& t) const;
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inline TYPE DistanceSq(const POINT&) const;
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inline TYPE Distance(const POINT&) const;
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inline TYPE Classify(const POINT&) const;
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inline POINT ProjectPoint(const POINT&) const;
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inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return pt1.data()[i]; }
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inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return pt1.data()[i]; }
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#ifdef _USE_BOOST
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// implement BOOST serialization
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template<class Archive>
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void serialize(Archive& ar, const unsigned int /*version*/) {
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ar & pt1;
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ar & pt2;
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}
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#endif
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}; // class TLine
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/*----------------------------------------------------------------*/
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template <typename TYPE, typename TYPEW=TYPE>
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struct FitLineOnline : FitPlaneOnline<TYPE,TYPEW,true> {
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template <typename TYPEE> TPoint3<TYPEE> GetLine(TLine<TYPEE,3>& line) const;
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};
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/*----------------------------------------------------------------*/
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#include "Line.inl"
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/*----------------------------------------------------------------*/
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} // namespace SEACAVE
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#endif // __SEACAVE_LINE_H__
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