Eigen::VectorXd
Line3D::getLine(Plane3D &p1, Plane3D &p2) {
Eigen::VectorXd v(6);
this->m = p1.getPlane() * p2.getPlane().transpose() - p2.getPlane() * p1.getPlane().transpose();
this->plucker_matrix2vector(this->m, v);
this->plucker_vector_swap(v);
return v;
}
Point3D
Line3D::intersectPlane(Plane3D &p) {
Eigen::Vector4d point;
this->plucker_vector2matrix(this->m, this->v);
point = this->m * p.getPlane();
return Point3D(point);
}