/*

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

* Copyright (c) 2022 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 "uncertain.h"

class Aabb; // axis-aligned bounding box

namespace Uncertain {

class uStraightLine;

//! Uncertain point

class uPoint : public BasicEntity2D

{

public:

uPoint() = delete; // default;

uPoint( const Vector3d & x,

const Matrix3d & Cov_xx);

// uPoint( const uPoint &ux ) = default;

// ~uPoint() override = default;

Aabb bbox() const;

/* nodiscard */ uPoint euclidean() const;

/* nodiscard */ uPoint sphericalNormalized() const;

/* nodiscard */ uPoint transformed( const Matrix3d & TT) const;

uDistance distanceAlgebraicTo( const uStraightLine & ul) const;

uDistance distanceEuclideanTo( const uStraightLine & ul) const;

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

private:

template <typename T>

inline int sign(T val) const { return (T(0) < val) - (val < T(0)); }

};

} // namespace Uncertain

#endif // UPOINT_H