geometry.h

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 * $Id: geometry.h 5294 2012-03-25 18:10:50Z rusu $
 */

#ifndef PCL_GEOMETRY_H_
#define PCL_GEOMETRY_H_

#include <pcl/common/eigen.h>

namespace pcl
{
  namespace geometry
  {
    template<typename PointT>
    inline float distance( const PointT& p1, const PointT& p2)
    {
      Eigen::Vector3f diff = p1 -p2;
      return diff.norm ();
    }
    template<typename PointT>
    inline float squaredDistance( const PointT& p1, const PointT& p2)
    {
      Eigen::Vector3f diff = p1 -p2;
      return diff.squaredNorm ();
    }
    template<typename PointT, typename NormalT>
    inline void project(const PointT& point, const PointT &plane_origin, const NormalT& plane_normal, PointT& projected)
    {
      Eigen::Vector3f po = point - plane_origin;
      const Eigen::Vector3f normal = plane_normal.getVector3fMapConst ();
      float lambda = normal.dot(po);
      projected.getVector3fMap () = point.getVector3fMapConst () - (lambda * normal);
    }
    inline void project(const Eigen::Vector3f& point, const Eigen::Vector3f &plane_origin, const Eigen::Vector3f& plane_normal, Eigen::Vector3f& projected)
    {
      Eigen::Vector3f po = point - plane_origin;
      float lambda = plane_normal.dot(po);
      projected = point - (lambda * plane_normal);
    }
  }
}

#endif  //#ifndef PCL_GEOMETRY_H_