line_operations.h

// clang: TomasFormat
#ifndef MRS_LIB_LINE_OPERATIONS_H
#define MRS_LIB_LINE_OPERATIONS_H
 
#include <Eigen/Core>
 
namespace mrs_lib
{
 
  namespace safety_zone
  {
 
    struct Intersection
    {
      Eigen::RowVector2d point;
      bool parallel;
      bool intersect;
 
      explicit Intersection(bool intersect, bool parallel = false, Eigen::RowVector2d point = Eigen::RowVector2d{});
    };
 
    Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2);
 
  } // namespace safety_zone
 
} // namespace mrs_lib
 
#endif