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(); }