/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  This program is free software, you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *  GNU Library General Public License for more details. * *  This file is created by: Mostafa Rokooey *  and is modified by: Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#ifndef __HALFLINE__H#define __HALFLINE__H#include <vector>#include <Types.h>#include <Line.h>class Circle;class HalfLine{protected:	float a, b, c;	float m;	Point sourcePoint;	float direction;public:	float getA(void);	float getB(void);	float getC(void);	Point getSource(void);	float getDirection(void);	unsigned getLineIntersect(Line line, Point &intersectPoint);	unsigned getHalfLineIntersect(HalfLine halfLine, Point &intersectPoint);	unsigned getCircleIntersect(Circle circle, std::vector<Point> &points);	float getPointDist(Point point);	bool checkPoint(Point point);	void setByABC(float inpA, float inpB, float inpC);	void setByPointDir(Point point, float Dir);};#endif // __HALFLINE_H