Base_ModelSurfaceIntersectorB.h

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// Anselmo Cervera, Juan J. Gomez-Cadenas and Jose Angel Hernando


#ifndef ModelSurfaceIntersectorB_h
#define ModelSurfaceIntersectorB_h 1

#include "Kalman/Interface_IModelSurfaceIntersector.h"
#include "Kalman/Interface_IModel.h"


class ModelSurfaceIntersectorB: public IModelSurfaceIntersector 
{
 public:

  // default constructor
  ModelSurfaceIntersectorB() {}

  // Constructor providing the model  
  ModelSurfaceIntersectorB(IModel* pm){m_model=pm; m_verbosity = m_model->verbosity();}


  // default destructor  
  virtual ~ModelSurfaceIntersectorB(){}


  //! computes the natural HyperVector when intersecting a surface
  virtual bool naturalHVAtSurface(const IState& iniState, 
                  const ISurface& surface, 
                  HyperVector& natHV) = 0;

  //! computes the natural HyperVector when intersecting a surface and check that the intersection point 
  //! is inside the surface
  virtual bool naturalHVAtFiniteSurface(const IState& iniState, 
                    const ISurface& surface, 
                    HyperVector& natHV) = 0;

  //! computes the surface perpendicular to the trajectory and containing the point measHV. 
  //! Computes also the natural HyperVector when intersecting that surface.
  virtual bool naturalHVAtNormalSurface(const IState& iniState, 
                    const HyperVector& measHV,
                    ISurface& surface, 
                    HyperVector& natHV) { if( false ) { iniState.info(2); surface.info(2); std::cout << measHV << " " << natHV << std::endl; } return false; }; //ME added if and return

  //! computes the distance between a point and a surface
  virtual double distanceFromPointToSurface(const IPoint& point, const ISurface& surf) const { if( false ) { point.info(2); surf.info(2); } return 0.; }; //ME added if

  //! set intersector verbosity 
  virtual void setVerbosity(int v) {m_verbosity=v;}
  //! return intersector verbosity 
  virtual int verbosity()  const {return m_verbosity;}  


 protected:

  //! return a model
  virtual const IModel& model() const {return *m_model;};
  //! set a model
  virtual void setModel(IModel* p) {m_model = p;};

 protected:

  //! A pointer to the model
  IModel* m_model;  

  // Verbosity
  int m_verbosity; 
  

};
#endif

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