text: // g2o - General Graph Optimization
  // Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
  // All rights reserved.
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are
  // met:
  //
  // * Redistributions of source code must retain the above copyright notice,
  //   this list of conditions and the following disclaimer.
  // * Redistributions in binary form must reproduce the above copyright
  //   notice, this list of conditions and the following disclaimer in the
  //   documentation and/or other materials provided with the distribution.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
  // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
  // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
  // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
  // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
  // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
  // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
  // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  #ifndef G2O_SIMUTILS_H_
  #define G2O_SIMUTILS_H_
  
  #include "g2o_simulator_api.h"
  #include "pointsensorparameters.h"
  #include "simulator2d_base.h"
  
  namespace g2o {
  // -1: outside
  // 0: p1Clipped
  // 1: p2clipped
  // 2: inside
  // 3: all clipped
  
  G2O_SIMULATOR_API int clipSegmentCircle(Eigen::Vector2d& p1,
                                          Eigen::Vector2d& p2, double r);
  
  // -1: outside
  // 0: p1Clipped
  // 1: p2clipped
  // 2: inside
  G2O_SIMULATOR_API int clipSegmentLine(Eigen::Vector2d& p1, Eigen::Vector2d& p2,
                                        double a, double b, double c);
  
  // -1: outside
  // 0: p1Clipped
  // 1: p2clipped
  // 2: inside
  // 3: all clipped
  G2O_SIMULATOR_API int clipSegmentFov(Eigen::Vector2d& p1, Eigen::Vector2d& p2,
                                       double min, double max);
  
  G2O_SIMULATOR_API Eigen::Vector2d computeLineParameters(
      const Eigen::Vector2d& p1, const Eigen::Vector2d& p2);
  }  // namespace g2o
  
  #endif
  