HTWKVision/lineedge.h at master · NaoHTWK/HTWKVision · GitHub

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#ifndef LINEEDGE_H
#define LINEEDGE_H

#include <vector>

#include <point_2d.h>

namespace htwk {
class LineSegment;

class LineEdge {
public:
    std::vector<LineSegment*> segments;
    float px1, py1, px2, py2;
    float nx;
    float ny;
    float d;
    // center of the line
    float x;
    float y;
    int id;
    int matchCnt;
    bool straight;
    bool valid;

    LineEdge();
    ~LineEdge() = default;
    LineEdge(const LineEdge&) = default;
    LineEdge(LineEdge&&) = default;
    LineEdge& operator=(const LineEdge&) = default;
    LineEdge& operator=(LineEdge&&) = default;

    LineEdge(int id);
    LineEdge(std::vector<LineSegment*> seg);
    point_2d p1() const {
        return {px1, py1};
    }
    point_2d p2() const {
        return {px2, py2};
    }
    void update();
    void setVector(float vx, float vy);
    float estimateLineWidth() const;
};

}  // namespace htwk

#endif  // LINEEDGE_H