How to use

intersectionWith

method

in

us.ihmc.robotics.geometry.LineSegment2d

@Override
public Point2d intersectionWith(LineSegment2d lineSegment)
{
 return lineSegment.intersectionWith(this);
}

@Override
public FramePoint2d[] intersectionWith(FrameConvexPolygon2d convexPolygon)
{
 checkReferenceFrameMatch(convexPolygon);
 Point2d[] intersection = this.lineSegment.intersectionWith(convexPolygon.convexPolygon);
 FramePoint2d[] ret = new FramePoint2d[intersection.length];
 for (int i = 0; i < intersection.length; i++)
 {
   ret[i] = new FramePoint2d(convexPolygon.referenceFrame, intersection[i]);
 }
 return ret;
}

@Override
public FramePoint2d intersectionWith(FrameLine2d line)
{
 checkReferenceFrameMatch(line);
 Point2d intersection = this.lineSegment.intersectionWith(line.line);
 if (intersection == null)
 {
   return null;
 }
 return new FramePoint2d(line.getReferenceFrame(), intersection);
}

@Override
public FramePoint2d intersectionWith(FrameLineSegment2d secondLineSegment)
{
 checkReferenceFrameMatch(secondLineSegment);
 Point2d intersection = this.lineSegment.intersectionWith(secondLineSegment.lineSegment);
 if (intersection == null)
 {
   return null;
 }
 return new FramePoint2d(secondLineSegment.getReferenceFrame(), intersection);
}

/**
* Find the intersection point between this FrameLineSegment2d and the argument FrameLine2d and store it in the FramePoint2d argument.
* @param intersectionPointToPack argument in which the intersect point is stored
* @param line used to find the intersection with this line segment
* @return true if successful, false otherwise.
*/
public boolean intersectionWith(FramePoint2d intersectionPointToPack, FrameLine2d line)
{
 checkReferenceFrameMatch(line);
 Point2d intersection = this.lineSegment.intersectionWith(line.line);
 if (intersection == null)
   return false;
 intersectionPointToPack.setIncludingFrame(line.getReferenceFrame(), intersection);
 return true;
}