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Line2: use T instead of double in APIs (backport #809) #832

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Merged
caguero merged 1 commit into from
Aug 25, 2026
Merged

Line2: use T instead of double in APIs (backport #809) #832

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29 changes: 15 additions & 14 deletions include/gz/math/Line2.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ namespace gz::math
/// \param[in] _y1 Y coordinate of the start point.
/// \param[in] _x2 X coordinate of the end point.
/// \param[in] _y2 Y coordinate of the end point.
public: Line2(double _x1, double _y1, double _x2, double _y2)
public: Line2(T _x1, T _y1, T _x2, T _y2)
{
this->Set(_x1, _y1, _x2, _y2);
}
Expand All @@ -65,10 +65,10 @@ namespace gz::math
/// \param[in] _y1 Y coordinate of the start point.
/// \param[in] _x2 X coordinate of the end point.
/// \param[in] _y2 Y coordinate of the end point.
public: void Set(double _x1, double _y1, double _x2, double _y2)
public: void Set(T _x1, T _y1, T _x2, T _y2)
{
this->pts[0].Set(static_cast<T>(_x1), static_cast<T>(_y1));
this->pts[1].Set(static_cast<T>(_x2), static_cast<T>(_y2));
this->pts[0].Set(_x1, _y1);
this->pts[1].Set(_x2, _y2);
}

/// \brief Return the cross product of this line and the given line.
Expand All @@ -77,7 +77,7 @@ namespace gz::math
/// (a.start.y - a.end.y) * (b.start.x - b.end.x)
/// \param[in] _line Line for the cross product computation.
/// \return Return the cross product of this line and the given line.
public: double CrossProduct(const Line2<T> &_line) const
public: T CrossProduct(const Line2<T> &_line) const
{
return (this->pts[0].X() - this->pts[1].X()) *
(_line[0].Y() -_line[1].Y()) -
Expand All @@ -90,7 +90,7 @@ namespace gz::math
// (_pt.y - a.y) * (b.x - a.x) - (_pt.x - a.x) * (b.y - a.y)
/// \param[in] _pt Point for the cross product computation.
/// \return Return the cross product of this line and the given point.
public: double CrossProduct(const Vector2<T> &_pt) const
public: T CrossProduct(const Vector2<T> &_pt) const
{
return (_pt.Y() - this->pts[0].Y()) *
(this->pts[1].X() - this->pts[0].X()) -
Expand All @@ -108,7 +108,7 @@ namespace gz::math
double _epsilon = 1e-6) const
{
return math::equal(this->CrossProduct(_pt),
0., _epsilon);
static_cast<T>(0), static_cast<T>(_epsilon));
}

/// \brief Check if the given line is parallel with this line.
Expand All @@ -122,7 +122,7 @@ namespace gz::math
double _epsilon = 1e-6) const
{
return math::equal(this->CrossProduct(_line),
0., _epsilon);
static_cast<T>(0), static_cast<T>(_epsilon));
}

/// \brief Check if the given line is collinear with this line. This
Expand Down Expand Up @@ -160,14 +160,15 @@ namespace gz::math
public: bool Within(const math::Vector2<T> &_pt,
double _epsilon = 1e-6) const
{
auto eps = static_cast<T>(_epsilon);
return _pt.X() <= std::max(this->pts[0].X(),
this->pts[1].X()) + _epsilon &&
this->pts[1].X()) + eps &&
_pt.X() >= std::min(this->pts[0].X(),
this->pts[1].X()) - _epsilon &&
this->pts[1].X()) - eps &&
_pt.Y() <= std::max(this->pts[0].Y(),
this->pts[1].Y()) + _epsilon &&
this->pts[1].Y()) + eps &&
_pt.Y() >= std::min(this->pts[0].Y(),
this->pts[1].Y()) - _epsilon;
this->pts[1].Y()) - eps;
}

/// \brief Check if this line intersects the given line segment.
Expand All @@ -193,11 +194,11 @@ namespace gz::math
public: bool Intersect(const Line2<T> &_line, math::Vector2<T> &_pt,
double _epsilon = 1e-6) const
{
double d = this->CrossProduct(_line);
T d = this->CrossProduct(_line);

// d is zero if the two line are collinear. Must check special
// cases.
if (math::equal(d, 0.0, _epsilon))
if (math::equal(d, static_cast<T>(0), static_cast<T>(_epsilon)))
{
// Check if _line's starting point is on the line.
if (this->Within(_line[0], _epsilon))
Expand Down
4 changes: 2 additions & 2 deletions src/python_pybind11/src/Line2.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -56,15 +56,15 @@ void helpDefineMathLine2(py::module &m, const std::string &typestr)
py::dynamic_attr())
.def(py::init<const gz::math::Vector2<T>&,
const gz::math::Vector2<T>&>())
.def(py::init<double, double, double, double>())
.def(py::init<T, T, T, T>())
.def(py::self != py::self)
.def(py::self == py::self)
.def("set",
py::overload_cast<const gz::math::Vector2<T>&,
const gz::math::Vector2<T>&>(&Class::Set),
"Set the start and end point of the line segment")
.def("set",
py::overload_cast<double, double, double, double>(&Class::Set),
py::overload_cast<T, T, T, T>(&Class::Set),
"Set the start and end point of the line segment")
.def("cross_product",
py::overload_cast<const Class&>(&Class::CrossProduct, py::const_),
Expand Down
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