function [seg, SEG_l] = ahmLinSegment(l,t)

% AHMLINSEGMENT  AHM line endpoints.
%   AHMLINSEGMENT(L,T) returns the 3D segment corresponding to the HMG line
%   L at abscissas T = [t1;t2].
%
%   [s,S_l] = AHMLINSEGMENT(...) returns the Jacobian wrt L.
%
%   See also AHMLINENDPOINTS, AHMLIN2SEG, AHMLIN2IDPPNTS.

%   Copyright 2009 Teresa Vidal.

% abscissas
t1 = t(1);
t2 = t(2);

% support 3d segment
[s, S_l] = ahmLin2seg(l);

% support points
p1 = s(1:3);
p2 = s(4:6);

P1_l = S_l(1:3,:);
P2_l = S_l(4:6,:);

% 3d endpoints
e1 = (1-t1)*p1 + t1*p2;
e2 = (1-t2)*p1 + t2*p2;

E1_p1 = 1-t1;
E1_p2 = t1;
E2_p1 = 1-t2;
E2_p2 = t2;

E1_l = E1_p1*P1_l + E1_p2*P2_l;
E2_l = E2_p1*P1_l + E2_p2*P2_l;

% 3d segment
seg   = [e1;e2];
SEG_l = [E1_l;E2_l];



% ========== End of function - Start GPL license ==========


%   # START GPL LICENSE

%---------------------------------------------------------------------
%
%   This file is part of SLAMTB, a SLAM toolbox for Matlab.
%
%   SLAMTB is free software: you can redistribute it and/or modify
%   it under the terms of the GNU General Public License as published by
%   the Free Software Foundation, either version 3 of the License, or
%   (at your option) any later version.
%
%   SLAMTB is distributed in the hope that it will be useful,
%   but WITHOUT ANY WARRANTY; without even the implied warranty of
%   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%   GNU General Public License for more details.
%
%   You should have received a copy of the GNU General Public License
%   along with SLAMTB.  If not, see <http://www.gnu.org/licenses/>.
%
%---------------------------------------------------------------------

%   SLAMTB is Copyright:
%   Copyright (c) 2008-2010, Joan Sola @ LAAS-CNRS,
%   Copyright (c) 2010-2013, Joan Sola,
%   Copyright (c) 2014-2015, Joan Sola @ IRI-UPC-CSIC,
%   SLAMTB is Copyright 2009 
%   by Joan Sola, Teresa Vidal-Calleja, David Marquez and Jean Marie Codol
%   @ LAAS-CNRS.
%   See on top of this file for its particular copyright.

%   # END GPL LICENSE

