codac2_SepVisible.h

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#pragma once
 
#include "codac2_Sep.h"
#include "codac2_CtcVisible.h"
 
namespace codac2 {
  class SepVisible : public Sep<SepVisible> {
  public:
    SepVisible(const IntervalVector& a, const Segment& s) 
      : Sep<SepVisible>(2), 
        _ctc_visible(a, s), 
        _ctc_novisible(a, s) 
    {}

    SepVisible(const IntervalVector& a, const std::vector<Segment>& s) 
      : Sep<SepVisible>(2), 
        _ctc_visible(a, s), 
        _ctc_novisible(a, s) 
    {}

    SepVisible(const IntervalVector& a, const Polygon& p) 
      : Sep<SepVisible>(2), 
        _ctc_visible(a, p), 
        _ctc_novisible(a, p) 
    {}
 
    BoxPair separate(const IntervalVector& x) const override {
      IntervalVector x_in(x);
      IntervalVector x_out(x);
 
      _ctc_novisible.contract(x_in);
      _ctc_visible.contract(x_out);
 
      assert((x_in | x_out) == x);
 
      return {x_in, x_out};
    }
 
  private:
    const CtcVisible _ctc_visible;
    const CtcNoVisible _ctc_novisible;
  };
}