common_3d.hpp

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// Copyright 2017-2019 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.

#ifndef GEOMETRY__COMMON_3D_HPP_
#define GEOMETRY__COMMON_3D_HPP_

#include <geometry/common_2d.hpp>

namespace autoware
{
namespace common
{
namespace geometry
{

template<typename T1, typename T2>
inline auto dot_3d(const T1 & pt, const T2 & q)
{
  using point_adapter::x_;
  using point_adapter::y_;
  using point_adapter::z_;
  return (x_(pt) * x_(q)) + (y_(pt) * y_(q) + z_(pt) * z_(q));
}

}  // namespace geometry
}  // namespace common
}  // namespace autoware

#endif  // GEOMETRY__COMMON_3D_HPP_