halfSpace.h

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#ifndef REPRESENTATION_GEOMETRIC_BASIC_HALFSPACE_H
#define REPRESENTATION_GEOMETRIC_BASIC_HALFSPACE_H

#include <irafhy/representation/geometric/basic/point.h>

namespace irafhy
{
    class HalfSpace
    {
    private:
        Eigen::VectorXd normal_;
        double offset_;

    public:
        static HalfSpace Empty(std::size_t dimension = 0);

    public:
        HalfSpace();
        HalfSpace(const HalfSpace& halfSpace) = default;
        HalfSpace(HalfSpace&& halfSpace) = default;
        HalfSpace(const Eigen::VectorXd& normal, double offset);
        HalfSpace(Eigen::VectorXd&& normal, double&& offset);
        virtual ~HalfSpace() = default;
        [[nodiscard]] int dimension() const;
        [[nodiscard]] Eigen::VectorXd normal() const;
        [[nodiscard]] double offset() const;
        [[nodiscard]] bool contains(const Point& point) const;
        [[nodiscard]] bool contains(const Eigen::VectorXd& coordinate) const;
        [[nodiscard]] bool holds(const Point& point) const;
        [[nodiscard]] bool holds(const Eigen::VectorXd& coordinate) const;
        bool intersect(const Eigen::VectorXd& lhsEndPoint,
                       const Eigen::VectorXd& rhsEndPoint,
                       Eigen::VectorXd&       intersection) const;
        HalfSpace& operator=(const HalfSpace& halfSpace) = default;
        HalfSpace& operator=(HalfSpace&& halfSpace) noexcept = default;
        HalfSpace& operator-();
        HalfSpace& reverse();
    };

    std::ostream& operator<<(std::ostream& out, const HalfSpace& halfSpace);
    const HalfSpace operator-(const HalfSpace& halfSpace);
} // namespace irafhy
#endif //REPRESENTATION_GEOMETRIC_BASIC_HALFSPACE_H