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simwall2d

release/4.3a0
kartik arcot 2023-01-13 11:02:23 -08:00
parent 68e3c5cca2
commit c397a99b30
2 changed files with 10 additions and 2 deletions
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2
gtsam_unstable/geometry/SimWall2D.cpp
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@ -25,7 +25,7 @@ bool SimWall2D::equals(const SimWall2D& other, double tol) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
bool SimWall2D::intersects(const SimWall2D& B, boost::optional<Point2&> pt) const { bool SimWall2D::intersects(const SimWall2D& B, Point2* pt) const {
const bool debug = false; const bool debug = false;
const SimWall2D& A = *this; const SimWall2D& A = *this;

10
gtsam_unstable/geometry/SimWall2D.h
View File

@ -51,7 +51,15 @@ namespace gtsam {
* returns true if they intersect, with the intersection * returns true if they intersect, with the intersection
* point in the optional second argument * point in the optional second argument
*/ */
bool intersects(const SimWall2D& wall, boost::optional<Point2&> pt=boost::none) const; bool intersects(const SimWall2D& wall, Point2* pt = nullptr) const;
/**
* An overload of intersects that takes an l-value reference to a Point2
* instead of a pointer.
*/
bool intersects(const SimWall2D& wall, Point2& pt) const {
return intersects(wall, &pt);
}
/** /**
* norm is a 2D point representing the norm of the wall * norm is a 2D point representing the norm of the wall