ray_tracer.h

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#ifndef ED_RAY_TRACER_H_
#define ED_ROBOCUP_VISUALIZER_H_
 
#include <ed/types.h>
#include <rgbd/types.h>
#include <geolib/datatypes.h>
#include <opencv2/core/core.hpp>
#include <set>
 
namespace ed_ray_tracer
{
 
struct RayTraceResult {
  RayTraceResult() :
    success_(false)
  {
 
  }
 
  bool success_;
  std::string entity_id_;
  geo::Vector3 intersection_point_;
};
 
RayTraceResult ray_trace(const ed::WorldModel& world, const geo::Pose3D& raytrace_pose);
 
}
 
#endif