vpPlane.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2022 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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/vpHomogeneousMatrix.h>
#include <visp3/core/vpPoint.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(double A, double B, double C, 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);

  double computeZ(double x, double y) const;

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