codac2_CtcVisible.h

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#pragma once
 
#include "codac2_Ctc.h"
#include "codac2_Segment.h"
#include "codac2_Polygon.h"
 
namespace codac2
{
  struct VisibilityEdgeData {
      IntervalVector e1, e2;
      IntervalVector v_e2e1, v_ae1, v_ae2;
      IntervalVector s_box;
      double k;
  };
 
  class CtcVisibleBase
  {
    protected:
 
      CtcVisibleBase(const IntervalVector& a, const std::vector<Segment>& edges);
 
      const IntervalVector _a;
      std::vector<VisibilityEdgeData> _edges;
  };
 
  class CtcVisible : public Ctc<CtcVisible, IntervalVector>, CtcVisibleBase
  {
    public:
      CtcVisible(const IntervalVector& a, const Segment& s);

      CtcVisible(const IntervalVector& a, const std::vector<Segment>& s);

      CtcVisible(const IntervalVector& a, const Polygon& p);
 
      void contract(IntervalVector& x) const;
  };
 
  class CtcNoVisible : public Ctc<CtcNoVisible, IntervalVector>, CtcVisibleBase
  {
    public:
      CtcNoVisible(const IntervalVector& a, const Segment& s);

      CtcNoVisible(const IntervalVector& a, const std::vector<Segment>& s);
      
      CtcNoVisible(const IntervalVector& a, const Polygon& p);
 
      void contract(IntervalVector& x) const;
  };
}