Follow-up of decdaa82d3
- Use normalized vectors
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@ -67,7 +67,7 @@ bool Line::parallel_to(const Line& line) const
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{
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{
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const Vec2d v1 = (this->b - this->a).cast<double>();
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const Vec2d v1 = (this->b - this->a).cast<double>();
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const Vec2d v2 = (line.b - line.a).cast<double>();
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const Vec2d v2 = (line.b - line.a).cast<double>();
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return std::fabs(cross2(v1, v2)) < EPSILON;
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return sqr(cross2(v1, v2)) < sqr(EPSILON) * v1.squaredNorm() * v2.squaredNorm();
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}
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}
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#if ENABLE_OUT_OF_BED_DETECTION_IMPROVEMENTS
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#if ENABLE_OUT_OF_BED_DETECTION_IMPROVEMENTS
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@ -80,7 +80,7 @@ bool Line::perpendicular_to(const Line& line) const
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{
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{
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const Vec2d v1 = (this->b - this->a).cast<double>();
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const Vec2d v1 = (this->b - this->a).cast<double>();
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const Vec2d v2 = (line.b - line.a).cast<double>();
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const Vec2d v2 = (line.b - line.a).cast<double>();
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return std::fabs(v1.dot(v2)) < EPSILON;
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return sqr(v1.dot(v2)) < sqr(EPSILON) * v1.squaredNorm() * v2.squaredNorm();
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}
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}
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#endif // ENABLE_OUT_OF_BED_DETECTION_IMPROVEMENTS
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#endif // ENABLE_OUT_OF_BED_DETECTION_IMPROVEMENTS
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