Add reflection method

[hubacji1/bcar.git] / incl / bcar.hh

diff --git a/incl/bcar.hh b/incl/bcar.hh
index 03609968aaecc6b80a9f417700a567476703af37..095c2213ed73bc6198c0fc1f151693765bfc604a 100644 (file)
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -65,6 +65,12 @@ public:
        */
        void rotate(Point const& c, double const angl);
 
+       /*! \brief Compute reflection of `this` around the `Line`.
+        *
+        * \param li The plane to reflect around is given by `li`.
+        */
+       void reflect(Line const& li);
+
        /*! Return Euclidean distance to `p`. */
        double edist(Point const& p) const;
 
@@ -117,6 +123,8 @@ public:
 
        double len() const;
 
+       double h() const;
+
        friend std::ostream& operator<<(std::ostream& out, Line const& li);
 };
 
@@ -139,6 +147,8 @@ public:
 
        void rotate(Point const& c, double const angl);
 
+       void reflect(Line const& li);
+
        friend std::ostream& operator<<(std::ostream& out, Pose const& p);
 };
 
@@ -161,6 +171,8 @@ public:
 
        void rotate(Point const& c, double const angl);
 
+       void reflect(Line const& li);
+
        friend std::ostream& operator<<(std::ostream& out, PoseRange const& p);
 };