void LidarLine2::set(const Line2& line)
{
Vector2d normal = line.getNormal();
l = abs(line.getC() / normal.getLength());
normal *= -line.getC();
alpha = normal.getAngle2D();
}
void LidarLine2::setEndPointB(const Vector2d& endPointB)
{
this->endPointB.set(endPointB);
phiB = endPointB.getAngle2D();
}
void LidarLine2::setEndPointA(const Vector2d& endPointA)
{
this->endPointA.set(endPointA);
phiA = endPointA.getAngle2D();
}
