vpPlane.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Plane geometrical structure.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpPlane_hh
#define vpPlane_hh

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpHomogeneousMatrix.h>

class VISP_EXPORT vpPlane
{

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  // for backward compatibility
 public:
#else
 private:
#endif
  double A,B,C,D ;

public:
  typedef enum {
    object_frame,
    camera_frame
  } vpPlaneFrame;
  vpPlane() ;
  vpPlane(const vpPlane& P) ;
  vpPlane(const double A, const double B,const  double C,const  double D) ;
  vpPlane(const vpPoint& P, const vpColVector &n, vpPlaneFrame frame=camera_frame) ;
  vpPlane(const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame=camera_frame) ;
  void init(const vpPoint& P, const vpPoint& Q, const vpPoint& R, vpPlaneFrame frame=camera_frame) ;
  void init(const vpColVector& P, const vpColVector &n) ;
  void init(const vpPlane& P) ;

  // SET the parameter
  inline void setA(const double a) {   this->A = a ; }
  inline void setB(const double b) {   this->B = b ; }
  inline void setC(const double c) {   this->C = c ; }
  inline void setD(const double d) {   this->D = d ; }
  inline void setABCD(const double a, const double b,
                      const double c, const double d)
  {
    this->A = a;
    this->B = b;
    this->C = c;
    this->D = d;
  }

  vpPlane& operator =(const vpPlane& f) ;

  // GET information
  double getA() const { return A ; }
  double getB() const { return B ; }
  double getC() const { return C ; }
  double getD() const { return D ; }

  inline vpColVector getABCD() const {
    vpColVector n(4);
    n[0]=A;
    n[1]=B;
    n[2]=C;
    n[3]=D;
    
    return n;
  }
  inline vpColVector abcd() const {
    vpColVector n(4);
    n[0]=A;
    n[1]=B;
    n[2]=C;
    n[3]=D;
    
    return n;
  }

  vpColVector getNormal() const;
  void getNormal(vpColVector &n) const;

  friend VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpPlane& p);

  // Operation with  Plane
  void projectionPointOnPlan(const vpPoint& P, vpPoint& Pproj) const ;

  double rayIntersection(const vpPoint &M0,
             const vpPoint &M1,
             vpColVector &H )const ;

  double getIntersection(const vpColVector &M1,vpColVector &H )const ;
  void changeFrame(const vpHomogeneousMatrix &cMo);

} ;



#endif