m = (y2 - y1) / (x2 - x1);
b = y1 - m * x1;
xn = (x2 - x1) / sqrt(pow(x2,2.0) + pow(x1,2.0));
yn = (y2 - y1) / sqrt(pow(y2,2.0) + pow(y1,2.0));
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