using System;
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using HalconDotNet;
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namespace PointGreyAndHalcon
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{
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/// <summary>
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/// This class demonstrates one of the possible implementations for a
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/// (simple) rectangularly shaped ROI. To create this rectangle we use
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/// a center point (midR, midC), an orientation 'phi' and the half
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/// edge lengths 'length1' and 'length2', similar to the HALCON
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/// operator gen_rectangle2().
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/// The class ROIRectangle2 inherits from the base class ROI and
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/// implements (besides other auxiliary methods) all virtual methods
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/// defined in ROI.cs.
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/// </summary>
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public class ROIRectangle2 : ROI
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{
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/// <summary>Half length of the rectangle side, perpendicular to phi</summary>
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private double length1;
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/// <summary>Half length of the rectangle side, in direction of phi</summary>
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private double length2;
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/// <summary>Row coordinate of midpoint of the rectangle</summary>
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private double midR;
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/// <summary>Column coordinate of midpoint of the rectangle</summary>
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private double midC;
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/// <summary>Orientation of rectangle defined in radians.</summary>
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private double phi;
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//auxiliary variables
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HTuple rowsInit;
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HTuple colsInit;
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HTuple rows;
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HTuple cols;
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HHomMat2D hom2D, tmp;
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/// <summary>Constructor</summary>
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public ROIRectangle2()
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{
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NumHandles = 6; // 4 corners + 1 midpoint + 1 rotationpoint
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activeHandleIdx = 4;
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}
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/// <summary>Creates a new ROI instance at the mouse position</summary>
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/// <param name="midX">
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/// x (=column) coordinate for interactive ROI
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/// </param>
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/// <param name="midY">
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/// y (=row) coordinate for interactive ROI
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/// </param>
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public override void createROI(double midX, double midY)
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{
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midR = midY;
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midC = midX;
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length1 = 100;
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length2 = 50;
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phi = 0.0;
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rowsInit = new HTuple(new double[] {-1.0, -1.0, 1.0,
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1.0, 0.0, 0.0 });
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colsInit = new HTuple(new double[] {-1.0, 1.0, 1.0,
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-1.0, 0.0, 0.6 });
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//order ul , ur, lr, ll, mp, arrowMidpoint
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hom2D = new HHomMat2D();
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tmp = new HHomMat2D();
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updateHandlePos();
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}
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/// <summary>Paints the ROI into the supplied window</summary>
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/// <param name="window">HALCON window</param>
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public override void draw(HalconDotNet.HWindow window)
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{
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window.DispRectangle2(midR, midC, -phi, length1, length2);
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for (int i =0; i < NumHandles; i++)
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window.DispRectangle2(rows[i].D, cols[i].D, -phi, 5, 5);
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window.DispArrow(midR, midC, midR + (Math.Sin(phi) * length1 * 1.2),
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midC + (Math.Cos(phi) * length1 * 1.2), 2.0);
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}
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/// <summary>
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/// Returns the distance of the ROI handle being
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/// closest to the image point(x,y)
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/// </summary>
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/// <param name="x">x (=column) coordinate</param>
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/// <param name="y">y (=row) coordinate</param>
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/// <returns>
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/// Distance of the closest ROI handle.
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/// </returns>
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public override double distToClosestHandle(double x, double y)
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{
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double max = 10000;
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double [] val = new double[NumHandles];
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for (int i=0; i < NumHandles; i++)
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val[i] = HMisc.DistancePp(y, x, rows[i].D, cols[i].D);
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for (int i=0; i < NumHandles; i++)
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{
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if (val[i] < max)
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{
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max = val[i];
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activeHandleIdx = i;
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}
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}
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return val[activeHandleIdx];
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}
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/// <summary>
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/// Paints the active handle of the ROI object into the supplied window
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/// </summary>
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/// <param name="window">HALCON window</param>
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public override void displayActive(HalconDotNet.HWindow window)
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{
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window.DispRectangle2(rows[activeHandleIdx].D,
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cols[activeHandleIdx].D,
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-phi, 5, 5);
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if (activeHandleIdx == 5)
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window.DispArrow(midR, midC,
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midR + (Math.Sin(phi) * length1 * 1.2),
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midC + (Math.Cos(phi) * length1 * 1.2),
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2.0);
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}
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/// <summary>Gets the HALCON region described by the ROI</summary>
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public override HRegion getRegion()
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{
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HRegion region = new HRegion();
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region.GenRectangle2(midR, midC, -phi, length1, length2);
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return region;
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}
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/// <summary>
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/// Gets the model information described by
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/// the interactive ROI
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/// </summary>
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public override HTuple getModelData()
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{
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return new HTuple(new double[] { midR, midC, phi, length1, length2 });
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}
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/// <summary>
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/// Recalculates the shape of the ROI instance. Translation is
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/// performed at the active handle of the ROI object
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/// for the image coordinate (x,y)
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/// </summary>
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/// <param name="newX">x mouse coordinate</param>
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/// <param name="newY">y mouse coordinate</param>
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public override void moveByHandle(double newX, double newY)
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{
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double vX, vY, x=0, y=0;
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switch (activeHandleIdx)
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{
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case 0:
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case 1:
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case 2:
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case 3:
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tmp = hom2D.HomMat2dInvert();
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x = tmp.AffineTransPoint2d(newX, newY, out y);
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length2 = Math.Abs(y);
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length1 = Math.Abs(x);
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checkForRange(x, y);
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break;
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case 4:
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midC = newX;
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midR = newY;
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break;
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case 5:
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vY = newY - rows[4].D;
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vX = newX - cols[4].D;
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phi = Math.Atan2(vY, vX);
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break;
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}
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updateHandlePos();
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}//end of method
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/// <summary>
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/// Auxiliary method to recalculate the contour points of
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/// the rectangle by transforming the initial row and
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/// column coordinates (rowsInit, colsInit) by the updated
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/// homography hom2D
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/// </summary>
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private void updateHandlePos()
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{
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hom2D.HomMat2dIdentity();
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hom2D = hom2D.HomMat2dTranslate(midC, midR);
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hom2D = hom2D.HomMat2dRotateLocal(phi);
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tmp = hom2D.HomMat2dScaleLocal(length1, length2);
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cols = tmp.AffineTransPoint2d(colsInit, rowsInit, out rows);
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}
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/* This auxiliary method checks the half lengths
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* (length1, length2) using the coordinates (x,y) of the four
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* rectangle corners (handles 0 to 3) to avoid 'bending' of
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* the rectangular ROI at its midpoint, when it comes to a
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* 'collapse' of the rectangle for length1=length2=0.
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* */
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private void checkForRange(double x, double y)
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{
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switch (activeHandleIdx)
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{
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case 0:
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if ((x < 0) && (y < 0))
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return;
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if (x >= 0) length1 = 0.01;
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if (y >= 0) length2 = 0.01;
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break;
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case 1:
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if ((x > 0) && (y < 0))
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return;
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if (x <= 0) length1 = 0.01;
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if (y >= 0) length2 = 0.01;
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break;
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case 2:
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if ((x > 0) && (y > 0))
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return;
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if (x <= 0) length1 = 0.01;
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if (y <= 0) length2 = 0.01;
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break;
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case 3:
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if ((x < 0) && (y > 0))
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return;
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if (x >= 0) length1 = 0.01;
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if (y <= 0) length2 = 0.01;
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break;
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default:
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break;
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}
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}
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}//end of class
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}//end of namespace
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