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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Copyright (c) 2016-2021 United States Government as represented by</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> * the National Aeronautics and Space Administration. No copyright</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * is claimed in the United States under Title 17, U.S.Code. All Other</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * Rights Reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> */</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span> </div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="preprocessor">#ifndef POSITIONUTIL_H_</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="preprocessor">#define POSITIONUTIL_H_</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span> </div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="preprocessor">#include "Velocity.h"</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="preprocessor">#include "Position.h"</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacelarcfm.html">larcfm</a> {</div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classlarcfm_1_1_position_util.html"> 20</a></span><span class="keyword">class </span><a class="code hl_class" href="classlarcfm_1_1_position_util.html">PositionUtil</a> {</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> collinear(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & p0, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & p1, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & p2);</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span> <span class="keyword">static</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> interpolate(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & v1, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & v2, <span class="keywordtype">double</span> f);</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> </div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classlarcfm_1_1_position_util.html#ad4b661d253c4e8ac8053dd0203e64157">angle_between</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & p1, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & p2, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & p3);</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> <span class="keyword">static</span> std::pair<Position,double> intersection(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a> & vo, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & si, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a> & vi);</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <span class="keyword">static</span> std::pair<Position,double> intersection(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & so1, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & so2, <span class="keywordtype">double</span> dto, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & si1, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & si2);</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">static</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> closestPoint(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & a, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & b, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & x);</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">static</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> closestPointOnSegment(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & a, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & b, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & x);</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">static</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> behind(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & a, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & b, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & x);</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> behind(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & p1, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & p2, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a> & vo);</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">static</span> <span class="keywordtype">int</span> passingDirection(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a> & vo, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & si, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a> & vi);</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">static</span> <span class="keywordtype">int</span> dirForBehind(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a> & vo, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_position.html">Position</a> & si, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a> & vi);</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span>};</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span>}</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="preprocessor">#endif </span><span class="comment">/* POSITIONUTIL_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="ttc" id="aclasslarcfm_1_1_position_html"><div class="ttname"><a href="classlarcfm_1_1_position.html">larcfm::Position</a></div><div class="ttdef"><b>Definition</b> Position.h:39</div></div>
<div class="ttc" id="aclasslarcfm_1_1_position_util_html"><div class="ttname"><a href="classlarcfm_1_1_position_util.html">larcfm::PositionUtil</a></div><div class="ttdef"><b>Definition</b> PositionUtil.h:20</div></div>
<div class="ttc" id="aclasslarcfm_1_1_position_util_html_ad4b661d253c4e8ac8053dd0203e64157"><div class="ttname"><a href="classlarcfm_1_1_position_util.html#ad4b661d253c4e8ac8053dd0203e64157">larcfm::PositionUtil::angle_between</a></div><div class="ttdeci">static double angle_between(const Position &p1, const Position &p2, const Position &p3)</div><div class="ttdef"><b>Definition</b> PositionUtil.cpp:44</div></div>
<div class="ttc" id="aclasslarcfm_1_1_velocity_html"><div class="ttname"><a href="classlarcfm_1_1_velocity.html">larcfm::Velocity</a></div><div class="ttdef"><b>Definition</b> Velocity.h:39</div></div>
<div class="ttc" id="anamespacelarcfm_html"><div class="ttname"><a href="namespacelarcfm.html">larcfm</a></div><div class="ttdef"><b>Definition</b> ACCoRDConfig.h:16</div></div>
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