line_operations.h

// clang: TomasFormat
#ifndef MRS_LIB_LINE_OPERATIONS_H
#define MRS_LIB_LINE_OPERATIONS_H
 
#include <eigen3/Eigen/Eigen>
 
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