Classes | Typedefs | Functions | Variables
collvoid Namespace Reference

Classes

class  Agent
struct  ConvexHullPoint
struct  Line
struct  Obstacle
class  ROSAgent
class  Vector2
struct  VelocitySample
struct  VO

Typedefs

typedef boost::shared_ptr< AgentAgentPtr
typedef boost::shared_ptr
< ROSAgent
ROSAgentPtr

Functions

double abs (const Vector2 &vector)
double absSqr (const Vector2 &vector)
void addAccelerationConstraintsXY (double max_vel_x, double acc_lim_x, double max_vel_y, double acc_lim_y, Vector2 cur_vel, double heading, double sim_period, bool holo_robot, std::vector< Line > &additional_orca_lines)
void addCircleLineIntersections (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, double max_speed, bool use_truncation, const Vector2 &point, const Vector2 &dir)
void addIntersectPoint (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, double max_speed, bool use_truncation, Vector2 point, const std::vector< VO > &truncated_vos)
void addMovementConstraintsDiff (double error, double T, double max_vel_x, double max_vel_th, double heading, double v_max_ang, std::vector< Line > &additional_orca_lines)
void addMovementConstraintsDiffSimple (double max_track_speed, double heading, std::vector< Line > &additional_orca_lines)
void addRayVelocitySamples (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, Vector2 point1, Vector2 dir1, Vector2 point2, Vector2 dir2, double max_speed, int TYPE)
void amclPoseArrayWeightedCallback (const amcl::PoseArrayWeighted::ConstPtr &msg)
double angleBetween (const Vector2 &one, const Vector2 &two)
double atan (const Vector2 &vector)
double beta (double T, double theta, double v_max_ang)
double CalcArea (std::vector< Vector2 > list)
Vector2 calculateClearpathVelocity (std::vector< VelocitySample > &samples, const std::vector< VO > &truncated_vos, const std::vector< Line > &additional_constraints, const Vector2 &pref_vel, double max_speed, bool use_truncation)
double calculateMaxTrackSpeedAngle (double T, double theta, double error, double max_vel_x, double max_vel_th, double v_max_ang)
Vector2 calculateNewVelocitySampled (std::vector< VelocitySample > &samples, const std::vector< VO > &truncated_vos, const Vector2 &pref_vel, double max_speed, bool use_truncation)
double calculateVelCosts (const Vector2 &test_vel, const std::vector< VO > &truncated_vos, const Vector2 &pref_vel, double max_speed, bool use_truncation)
double calcVstar (double vh, double theta)
double calcVstarError (double T, double theta, double error)
bool compareConvexHullPointsPosition (const ConvexHullPoint &p1, const ConvexHullPoint &p2)
bool comparePoint (const Vector2 &p1, const Vector2 &p2)
bool compareVectorsLexigraphically (const ConvexHullPoint &v1, const ConvexHullPoint &v2)
bool compareVelocitySamples (const VelocitySample &p1, const VelocitySample &p2)
void computeNewLocUncertainty ()
void computeNewMinkowskiFootprint ()
std::vector< ConvexHullPointconvexHull (std::vector< ConvexHullPoint > P, bool sorted)
VO createHRVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO createHRVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2)
VO createObstacleVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2)
VO createObstacleVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2)
VO createObstacleVO (Vector2 &position1, double radius1, const std::vector< Vector2 > &footprint1, Vector2 &obst1, Vector2 &obst2)
Line createOrcaLine (Agent *me, Agent *other, double trunc_time, double timestep, double left_pref, double cur_allowed_error)
Line createOrcaLine (double combinedRadius, const Vector2 &relativePosition, const Vector2 &me_vel, const Vector2 &other_vel, double trunc_time, double timestep, double left_pref, double cur_allowed_error, bool controlled)
VO createRVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO createRVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2)
void createSamplesWithinMovementConstraints (std::vector< VelocitySample > &samples, double cur_vel_x, double cur_vel_y, double cur_vel_theta, double acc_lim_x, double acc_lim_y, double acc_lim_theta, double min_vel_x, double max_vel_x, double min_vel_y, double max_vel_y, double min_vel_theta, double max_vel_theta, double heading, Vector2 pref_vel, double sim_period, int num_samples, bool holo_robot)
Line createStationaryAgent (Agent *me, Agent *other)
VO createTruncVO (VO &vo, double time)
VO createVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO createVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2, int TYPE)
VO createVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2, int TYPE)
VO createVO (Vector2 &position1, double radius1, Vector2 &position2, double radius2, Vector2 &vel2)
double cross (const ConvexHullPoint &O, const ConvexHullPoint &A, const ConvexHullPoint &B)
double det (const Vector2 &vector1, const Vector2 &vector2)
double distSqPointLineSegment (const Vector2 &a, const Vector2 &b, const Vector2 &c)
 Computes the squared distance from a line segment with the specified endpoints to a specified point.
void fillMarkerWithROSAgent (visualization_msgs::MarkerArray &marker, ROSAgent *agent, std::string base_frame, std::string name_space)
double gamma (double T, double theta, double error, double v_max_ang)
Vector2 intersectTwoLines (Vector2 point1, Vector2 dir1, Vector2 point2, Vector2 dir2)
Vector2 intersectTwoLines (Line line1, Line line2)
bool isInsideVO (VO vo, Vector2 point, bool use_truncation)
bool isWithinAdditionalConstraints (const std::vector< Line > &additional_constraints, const Vector2 &point)
double left (const Vector2 &pointLine, const Vector2 &dirLine, const Vector2 &point)
bool leftOf (const Vector2 &pointLine, const Vector2 &dirLine, const Vector2 &point)
bool linearProgram1 (const std::vector< Line > &lines, size_t lineNo, float radius, const Vector2 &optVelocity, bool dirOpt, Vector2 &result)
size_t linearProgram2 (const std::vector< Line > &lines, float radius, const Vector2 &optVelocity, bool dirOpt, Vector2 &result)
void linearProgram3 (const std::vector< Line > &lines, size_t numObstLines, size_t beginLine, float radius, Vector2 &result)
std::vector< Vector2minkowskiSum (const std::vector< Vector2 > polygon1, const std::vector< Vector2 > polygon2)
Vector2 normal (const Vector2 &vector)
Vector2 normalize (const Vector2 &vector)
void odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
Vector2 operator* (float s, const Vector2 &vector)
Vector2 projectPointOnLine (const Vector2 &pointLine, const Vector2 &dirLine, const Vector2 &point)
void publishHoloSpeed (Vector2 pos, Vector2 vel, std::string base_frame, std::string name_space, ros::Publisher speed_pub)
void publishMePosition (ROSAgent *me, std::string base_frame, std::string name_space, ros::Publisher me_pub)
void publishNeighborPositions (std::vector< AgentPtr > &neighbors, std::string base_frame, std::string name_space, ros::Publisher neighbors_pub)
void publishObstacleLines (const std::vector< Obstacle > &obstacles_lines, std::string base_frame, std::string name_space, ros::Publisher line_pub)
void publishOrcaLines (const std::vector< Line > &orca_lines, Vector2 &position, std::string base_frame, std::string name_space, ros::Publisher line_pub)
void publishPoints (Vector2 &pos, const std::vector< VelocitySample > &points, std::string base_frame, std::string name_space, ros::Publisher samples_pub)
void publishVOs (Vector2 &pos, const std::vector< VO > &truncated_vos, bool use_truncation, std::string base_frame, std::string name_space, ros::Publisher vo_pub)
bool rightOf (const Vector2 &pointLine, const Vector2 &dirLine, const Vector2 &point)
Vector2 rotateVectorByAngle (double x, double y, double ang)
Vector2 rotateVectorByAngle (const Vector2 &vec, double ang)
double sign (double x)
double signedDistPointToLineSegment (const Vector2 &a, const Vector2 &b, const Vector2 &c)
 Computes the sign from a line connecting the specified points to a specified point.
double sqr (double a)

Variables

std::string base_frame_
double cur_loc_unc_radius_
double eps_
geometry_msgs::PolygonStamped footprint_msg_
double footprint_radius_
std::string global_frame_
std::vector< Vector2minkowski_footprint_
std::string odom_frame_
std::vector< std::pair< double,
geometry_msgs::PoseStamped > > 
pose_array_weighted_
double radius_
tf::TransformListenertf_

Typedef Documentation

typedef boost::shared_ptr<Agent> collvoid::AgentPtr

Definition at line 114 of file Agent.h.

typedef boost::shared_ptr<ROSAgent> collvoid::ROSAgentPtr

Definition at line 246 of file ROSAgent.h.


Function Documentation

double collvoid::abs ( const Vector2 &  vector) [inline]

Definition at line 197 of file Vector2.h.

double collvoid::absSqr ( const Vector2 &  vector) [inline]

Definition at line 202 of file Vector2.h.

void collvoid::addAccelerationConstraintsXY ( double  max_vel_x,
double  acc_lim_x,
double  max_vel_y,
double  acc_lim_y,
Vector2  cur_vel,
double  heading,
double  sim_period,
bool  holo_robot,
std::vector< Line > &  additional_orca_lines 
)

Definition at line 164 of file orca.cpp.

void collvoid::addCircleLineIntersections ( std::vector< VelocitySample > &  samples,
const Vector2 &  pref_vel,
double  max_speed,
bool  use_truncation,
const Vector2 &  point,
const Vector2 &  dir 
)

Definition at line 489 of file clearpath.cpp.

void collvoid::addIntersectPoint ( std::vector< VelocitySample > &  samples,
const Vector2 &  pref_vel,
double  max_speed,
bool  use_truncation,
Vector2  point,
const std::vector< VO > &  truncated_vos 
)
void collvoid::addMovementConstraintsDiff ( double  error,
double  T,
double  max_vel_x,
double  max_vel_th,
double  heading,
double  v_max_ang,
std::vector< Line > &  additional_orca_lines 
)

Definition at line 252 of file orca.cpp.

void collvoid::addMovementConstraintsDiffSimple ( double  max_track_speed,
double  heading,
std::vector< Line > &  additional_orca_lines 
)

Definition at line 225 of file orca.cpp.

void collvoid::addRayVelocitySamples ( std::vector< VelocitySample > &  samples,
const Vector2 &  pref_vel,
Vector2  point1,
Vector2  dir1,
Vector2  point2,
Vector2  dir2,
double  max_speed,
int  TYPE 
)

Definition at line 516 of file clearpath.cpp.

void collvoid::amclPoseArrayWeightedCallback ( const amcl::PoseArrayWeighted::ConstPtr &  msg)

Definition at line 183 of file helper.cpp.

double collvoid::angleBetween ( const Vector2 &  one,
const Vector2 &  two 
) [inline]

Definition at line 222 of file Vector2.h.

double collvoid::atan ( const Vector2 &  vector) [inline]

Definition at line 206 of file Vector2.h.

double collvoid::beta ( double  T,
double  theta,
double  v_max_ang 
)

Definition at line 298 of file orca.cpp.

double collvoid::CalcArea ( std::vector< Vector2 >  list)

Definition at line 275 of file helper.cpp.

Vector2 collvoid::calculateClearpathVelocity ( std::vector< VelocitySample > &  samples,
const std::vector< VO > &  truncated_vos,
const std::vector< Line > &  additional_constraints,
const Vector2 &  pref_vel,
double  max_speed,
bool  use_truncation 
)

Definition at line 669 of file clearpath.cpp.

double collvoid::calculateMaxTrackSpeedAngle ( double  T,
double  theta,
double  error,
double  max_vel_x,
double  max_vel_th,
double  v_max_ang 
)

Definition at line 314 of file orca.cpp.

Vector2 collvoid::calculateNewVelocitySampled ( std::vector< VelocitySample > &  samples,
const std::vector< VO > &  truncated_vos,
const Vector2 &  pref_vel,
double  max_speed,
bool  use_truncation 
)

Definition at line 627 of file clearpath.cpp.

double collvoid::calculateVelCosts ( const Vector2 &  test_vel,
const std::vector< VO > &  truncated_vos,
const Vector2 &  pref_vel,
double  max_speed,
bool  use_truncation 
)

Definition at line 655 of file clearpath.cpp.

double collvoid::calcVstar ( double  vh,
double  theta 
)

Definition at line 306 of file orca.cpp.

double collvoid::calcVstarError ( double  T,
double  theta,
double  error 
)

Definition at line 310 of file orca.cpp.

bool collvoid::compareConvexHullPointsPosition ( const ConvexHullPoint &  p1,
const ConvexHullPoint &  p2 
)

Definition at line 59 of file helper.cpp.

bool collvoid::comparePoint ( const Vector2 &  p1,
const Vector2 &  p2 
)

Definition at line 63 of file helper.cpp.

bool collvoid::compareVectorsLexigraphically ( const ConvexHullPoint &  v1,
const ConvexHullPoint &  v2 
)

Definition at line 843 of file clearpath.cpp.

bool collvoid::compareVelocitySamples ( const VelocitySample &  p1,
const VelocitySample &  p2 
)

Definition at line 883 of file clearpath.cpp.

Definition at line 68 of file helper.cpp.

Definition at line 105 of file helper.cpp.

std::vector< ConvexHullPoint > collvoid::convexHull ( std::vector< ConvexHullPoint >  P,
bool  sorted 
)

Definition at line 854 of file clearpath.cpp.

VO collvoid::createHRVO ( Vector2 &  position1,
const std::vector< Vector2 > &  footprint1,
Vector2 &  vel1,
Vector2 &  position2,
const std::vector< Vector2 > &  footprint2,
Vector2 &  vel2 
)

Definition at line 315 of file clearpath.cpp.

VO collvoid::createHRVO ( Vector2 &  position1,
double  radius1,
Vector2 &  vel1,
Vector2 &  position2,
double  radius2,
Vector2 &  vel2 
)

Definition at line 423 of file clearpath.cpp.

VO collvoid::createObstacleVO ( Vector2 &  position1,
const std::vector< Vector2 > &  footprint1,
Vector2 &  vel1,
Vector2 &  position2,
const std::vector< Vector2 > &  footprint2 
)
VO collvoid::createObstacleVO ( Vector2 &  position1,
double  radius1,
Vector2 &  vel1,
Vector2 &  position2,
double  radius2 
)
VO collvoid::createObstacleVO ( Vector2 &  position1,
double  radius1,
const std::vector< Vector2 > &  footprint1,
Vector2 &  obst1,
Vector2 &  obst2 
)

Definition at line 78 of file clearpath.cpp.

Line collvoid::createOrcaLine ( Agent *  me,
Agent *  other,
double  trunc_time,
double  timestep,
double  left_pref,
double  cur_allowed_error 
)

Definition at line 70 of file orca.cpp.

Line collvoid::createOrcaLine ( double  combinedRadius,
const Vector2 &  relativePosition,
const Vector2 &  me_vel,
const Vector2 &  other_vel,
double  trunc_time,
double  timestep,
double  left_pref,
double  cur_allowed_error,
bool  controlled 
)

Definition at line 78 of file orca.cpp.

VO collvoid::createRVO ( Vector2 &  position1,
const std::vector< Vector2 > &  footprint1,
Vector2 &  vel1,
Vector2 &  position2,
const std::vector< Vector2 > &  footprint2,
Vector2 &  vel2 
)

Definition at line 307 of file clearpath.cpp.

VO collvoid::createRVO ( Vector2 &  position1,
double  radius1,
Vector2 &  vel1,
Vector2 &  position2,
double  radius2,
Vector2 &  vel2 
)

Definition at line 417 of file clearpath.cpp.

void collvoid::createSamplesWithinMovementConstraints ( std::vector< VelocitySample > &  samples,
double  cur_vel_x,
double  cur_vel_y,
double  cur_vel_theta,
double  acc_lim_x,
double  acc_lim_y,
double  acc_lim_theta,
double  min_vel_x,
double  max_vel_x,
double  min_vel_y,
double  max_vel_y,
double  min_vel_theta,
double  max_vel_theta,
double  heading,
Vector2  pref_vel,
double  sim_period,
int  num_samples,
bool  holo_robot 
)

Definition at line 558 of file clearpath.cpp.

Line collvoid::createStationaryAgent ( Agent *  me,
Agent *  other 
)

Definition at line 151 of file orca.cpp.

VO collvoid::createTruncVO ( VO &  vo,
double  time 
)

Definition at line 444 of file clearpath.cpp.

VO collvoid::createVO ( Vector2 &  position1,
const std::vector< Vector2 > &  footprint1,
Vector2 &  position2,
const std::vector< Vector2 > &  footprint2,
Vector2 &  vel2 
)

Definition at line 194 of file clearpath.cpp.

VO collvoid::createVO ( Vector2 &  position1,
const std::vector< Vector2 > &  footprint1,
Vector2 &  vel1,
Vector2 &  position2,
const std::vector< Vector2 > &  footprint2,
Vector2 &  vel2,
int  TYPE 
)

Definition at line 365 of file clearpath.cpp.

VO collvoid::createVO ( Vector2 &  position1,
double  radius1,
Vector2 &  vel1,
Vector2 &  position2,
double  radius2,
Vector2 &  vel2,
int  TYPE 
)

Definition at line 378 of file clearpath.cpp.

VO collvoid::createVO ( Vector2 &  position1,
double  radius1,
Vector2 &  position2,
double  radius2,
Vector2 &  vel2 
)

Definition at line 391 of file clearpath.cpp.

double collvoid::cross ( const ConvexHullPoint &  O,
const ConvexHullPoint &  A,
const ConvexHullPoint &  B 
)

Definition at line 847 of file clearpath.cpp.

double collvoid::det ( const Vector2 &  vector1,
const Vector2 &  vector2 
) [inline]

Definition at line 210 of file Vector2.h.

double collvoid::distSqPointLineSegment ( const Vector2 &  a,
const Vector2 &  b,
const Vector2 &  c 
) [inline]

Computes the squared distance from a line segment with the specified endpoints to a specified point.

Parameters:
aThe first endpoint of the line segment.
bThe second endpoint of the line segment.
cThe point to which the squared distance is to be calculated.
Returns:
The squared distance from the line segment to the point.

Definition at line 91 of file Utils.h.

void collvoid::fillMarkerWithROSAgent ( visualization_msgs::MarkerArray &  marker,
ROSAgent *  agent,
std::string  base_frame,
std::string  name_space 
)

Definition at line 265 of file collvoid_publishers.cpp.

double collvoid::gamma ( double  T,
double  theta,
double  error,
double  v_max_ang 
)

Definition at line 302 of file orca.cpp.

Vector2 collvoid::intersectTwoLines ( Vector2  point1,
Vector2  dir1,
Vector2  point2,
Vector2  dir2 
)

Definition at line 887 of file clearpath.cpp.

Vector2 collvoid::intersectTwoLines ( Line  line1,
Line  line2 
)

Definition at line 910 of file clearpath.cpp.

bool collvoid::isInsideVO ( VO  vo,
Vector2  point,
bool  use_truncation 
)

Definition at line 472 of file clearpath.cpp.

bool collvoid::isWithinAdditionalConstraints ( const std::vector< Line > &  additional_constraints,
const Vector2 &  point 
)

Definition at line 479 of file clearpath.cpp.

double collvoid::left ( const Vector2 &  pointLine,
const Vector2 &  dirLine,
const Vector2 &  point 
) [inline]

Definition at line 119 of file Utils.h.

bool collvoid::leftOf ( const Vector2 &  pointLine,
const Vector2 &  dirLine,
const Vector2 &  point 
) [inline]

Definition at line 123 of file Utils.h.

bool collvoid::linearProgram1 ( const std::vector< Line > &  lines,
size_t  lineNo,
float  radius,
const Vector2 &  optVelocity,
bool  dirOpt,
Vector2 &  result 
)

Definition at line 341 of file orca.cpp.

size_t collvoid::linearProgram2 ( const std::vector< Line > &  lines,
float  radius,
const Vector2 &  optVelocity,
bool  dirOpt,
Vector2 &  result 
)

Definition at line 408 of file orca.cpp.

void collvoid::linearProgram3 ( const std::vector< Line > &  lines,
size_t  numObstLines,
size_t  beginLine,
float  radius,
Vector2 &  result 
)

Definition at line 438 of file orca.cpp.

std::vector< Vector2 > collvoid::minkowskiSum ( const std::vector< Vector2 >  polygon1,
const std::vector< Vector2 >  polygon2 
)

Definition at line 821 of file clearpath.cpp.

Vector2 collvoid::normal ( const Vector2 &  vector) [inline]

Definition at line 218 of file Vector2.h.

Vector2 collvoid::normalize ( const Vector2 &  vector) [inline]

Definition at line 214 of file Vector2.h.

void collvoid::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg)

Definition at line 230 of file helper.cpp.

Vector2 collvoid::operator* ( float  s,
const Vector2 &  vector 
) [inline]

Definition at line 191 of file Vector2.h.

Vector2 collvoid::projectPointOnLine ( const Vector2 &  pointLine,
const Vector2 &  dirLine,
const Vector2 &  point 
) [inline]

Definition at line 77 of file Utils.h.

void collvoid::publishHoloSpeed ( Vector2  pos,
Vector2  vel,
std::string  base_frame,
std::string  name_space,
ros::Publisher  speed_pub 
)

Definition at line 36 of file collvoid_publishers.cpp.

void collvoid::publishMePosition ( ROSAgent *  me,
std::string  base_frame,
std::string  name_space,
ros::Publisher  me_pub 
)

Definition at line 245 of file collvoid_publishers.cpp.

void collvoid::publishNeighborPositions ( std::vector< AgentPtr > &  neighbors,
std::string  base_frame,
std::string  name_space,
ros::Publisher  neighbors_pub 
)

Definition at line 253 of file collvoid_publishers.cpp.

void collvoid::publishObstacleLines ( const std::vector< Obstacle > &  obstacles_lines,
std::string  base_frame,
std::string  name_space,
ros::Publisher  line_pub 
)

Definition at line 214 of file collvoid_publishers.cpp.

void collvoid::publishOrcaLines ( const std::vector< Line > &  orca_lines,
Vector2 &  position,
std::string  base_frame,
std::string  name_space,
ros::Publisher  line_pub 
)

Definition at line 187 of file collvoid_publishers.cpp.

void collvoid::publishPoints ( Vector2 &  pos,
const std::vector< VelocitySample > &  points,
std::string  base_frame,
std::string  name_space,
ros::Publisher  samples_pub 
)

Definition at line 135 of file collvoid_publishers.cpp.

void collvoid::publishVOs ( Vector2 &  pos,
const std::vector< VO > &  truncated_vos,
bool  use_truncation,
std::string  base_frame,
std::string  name_space,
ros::Publisher  vo_pub 
)

Definition at line 62 of file collvoid_publishers.cpp.

bool collvoid::rightOf ( const Vector2 &  pointLine,
const Vector2 &  dirLine,
const Vector2 &  point 
) [inline]

Definition at line 127 of file Utils.h.

Vector2 collvoid::rotateVectorByAngle ( double  x,
double  y,
double  ang 
) [inline]

Definition at line 229 of file Vector2.h.

Vector2 collvoid::rotateVectorByAngle ( const Vector2 &  vec,
double  ang 
) [inline]

Definition at line 236 of file Vector2.h.

double collvoid::sign ( double  x) [inline]

Definition at line 131 of file Utils.h.

double collvoid::signedDistPointToLineSegment ( const Vector2 &  a,
const Vector2 &  b,
const Vector2 &  c 
) [inline]

Computes the sign from a line connecting the specified points to a specified point.

Parameters:
aThe first point on the line.
bThe second point on the line.
cThe point to which the signed distance is to be calculated.
Returns:
Positive when the point c lies to the left of the line ab.

Definition at line 114 of file Utils.h.

double collvoid::sqr ( double  a) [inline]

Definition at line 135 of file Utils.h.


Variable Documentation

std::string collvoid::base_frame_

Definition at line 45 of file helper.cpp.

Definition at line 47 of file helper.cpp.

Definition at line 50 of file helper.cpp.

geometry_msgs::PolygonStamped collvoid::footprint_msg_

Definition at line 49 of file helper.cpp.

Definition at line 47 of file helper.cpp.

Definition at line 45 of file helper.cpp.

Definition at line 48 of file helper.cpp.

std::string collvoid::odom_frame_

Definition at line 45 of file helper.cpp.

std::vector<std::pair<double, geometry_msgs::PoseStamped> > collvoid::pose_array_weighted_

Definition at line 46 of file helper.cpp.

Definition at line 47 of file helper.cpp.

Definition at line 44 of file helper.cpp.

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collvoid_local_planner
Author(s): Daniel Claes
autogenerated on Sun Aug 25 2013 10:10:23