/*

* This file is part of the GreasePad distribution (https://github.com/FraunhoferIOSB/GreasePad).

* Copyright (c) 2022-2026 Jochen Meidow, Fraunhofer IOSB

*

* This program is free software: you can redistribute it and/or modify

* it under the terms of the GNU General Public License as published by

* the Free Software Foundation, either version 3 of the License, or

* (at your option) any later version.

*

* This program is distributed in the hope that it will be useful,

* but WITHOUT ANY WARRANTY; without even the implied warranty of

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

* GNU General Public License for more details.

*

* You should have received a copy of the GNU General Public License

* along with this program. If not, see <https://www.gnu.org/licenses/>.

*/

#ifndef UPOINT_H

#define UPOINT_H

#include "Eigen/Core"

#include "geometry/aabb.h" // axis-aligned bounding box

#include "uelement.h"

namespace Uncertain {

class uDistance;

class uStraightLine;

using Geometry::Aabb;

//! Uncertain point

class uPoint : public uElement<3>

{

public:

uPoint() = delete;

uPoint( const Eigen::Vector3d & x,

const Eigen::Matrix3d & Sigma_xx);

[[nodiscard]] Aabb<double,2> bbox() const;

[[nodiscard]] Eigen::Matrix3d conicMatrix(double) const;

[[nodiscard]] uPoint euclidean() const;

[[nodiscard]] uPoint sphericalNormalized() const;

[[nodiscard]] uPoint transformed( const Eigen::Matrix3d & TT) const;

[[nodiscard]] uStraightLine cross( const uPoint &) const;

[[nodiscard]] uDistance distanceAlgebraicTo( const uStraightLine & ul) const;

[[nodiscard]] uDistance distanceEuclideanTo( const uStraightLine & ul) const;

[[nodiscard]] bool isIncidentWith( const uStraightLine & ul, double T) const;

};

} // namespace Uncertain

#endif // UPOINT_H