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 * $Id: intersections.h 2617 2011-09-30 21:37:23Z rusu $
 *
 */
#ifndef PCL_INTERSECTIONS_H_
#define PCL_INTERSECTIONS_H_

#include <pcl/ModelCoefficients.h>
#include <pcl/common/common.h>
#include <pcl/common/distances.h>

/** 
  * \file pcl/common/intersections.h
  * Define line with line intersection functions
  * \ingroup common
  */

/*@{*/
namespace pcl
{
  /** \brief Get the intersection of a two 3D lines in space as a 3D point
    * \param line_a the coefficients of the first line (point, direction)
    * \param line_b the coefficients of the second line (point, direction)
    * \param point holder for the computed 3D point
    * \param sqr_eps maximum allowable squared distance to the true solution
    * \ingroup common
    */
  PCL_EXPORTS bool
  lineWithLineIntersection (const Eigen::VectorXf &line_a, 
                            const Eigen::VectorXf &line_b, 
                            Eigen::Vector4f &point, double sqr_eps = 1e-4);

  /** \brief Get the intersection of a two 3D lines in space as a 3D point
    * \param line_a the coefficients of the first line (point, direction)
    * \param line_b the coefficients of the second line (point, direction)
    * \param point holder for the computed 3D point
    * \param sqr_eps maximum allowable squared distance to the true solution
    * \ingroup common
    */
  PCL_EXPORTS bool
  lineWithLineIntersection (const pcl::ModelCoefficients &line_a, 
                            const pcl::ModelCoefficients &line_b, 
                            Eigen::Vector4f &point, double sqr_eps = 1e-4);
}
/*@}*/
#endif  //#ifndef PCL_INTERSECTIONS_H_

