plane.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef GEOMETRY__PLANE_HPP_
#define GEOMETRY__PLANE_HPP_
 
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <optional>
 
namespace math
{
namespace geometry
{
 
struct Plane
{
  Plane(const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Vector3 & normal);
  auto offset(const geometry_msgs::msg::Point & point) const -> double;
 
  const geometry_msgs::msg::Vector3 normal_;
  const double d_;
};
}  // namespace geometry
}  // namespace math
#endif  // GEOMETRY__PLANE_HPP_