ray_2d.h

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// -*-c++-*-
 
/*
 *Copyright:
 
 Copyright (C) Hidehisa Akiyama
 
 This code is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 3 of the License, or (at your option) any later version.
 
 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.
 
 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
 *EndCopyright:
 */
 
 
#ifndef RCSC_GEOM_RAY2D_H
#define RCSC_GEOM_RAY2D_H
 
#include <rcsc/geom/line_2d.h>
#include <rcsc/geom/vector_2d.h>
 
namespace rcsc {
 
class Ray2D {
private:
    Vector2D M_origin;
    AngleDeg M_direction;
 
public:
    Ray2D()
        : M_origin( 0.0, 0.0 ),
          M_direction( 0.0 )
      { }
 
    Ray2D( const Vector2D & origin,
           const AngleDeg & direction )
        : M_origin( origin ),
          M_direction( direction )
      { }
    Ray2D( const Vector2D & origin,
           const Vector2D & dir_point )
        : M_origin( origin ),
          M_direction( ( dir_point - origin ).th() )
      { }
 
    const Vector2D & origin() const
      {
          return M_origin;
      }
 
    const AngleDeg & dir() const
      {
          return M_direction;
      }
 
    Line2D line() const
      {
          return Line2D( origin(), dir() );
      }
 
    bool inRightDir( const Vector2D & point,
                     const double thr = 10.0 ) const
      {
          return ( ( point - origin() ).th() - dir() ).abs() < thr;
      }
 
    Vector2D intersection( const Line2D & other ) const;
 
    Vector2D intersection( const Ray2D & other ) const;
 
};
 
}
 
#endif