costmap_math.h
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef COSTMAP_MATH_H_
00039 #define COSTMAP_MATH_H_
00040 
00041 #include <math.h>
00042 #include <algorithm>
00043 #include <vector>
00044 #include <geometry_msgs/Point.h>
00045 
00047 inline double sign(double x)
00048 {
00049   return x < 0.0 ? -1.0 : 1.0;
00050 }
00051 
00053 inline double sign0(double x)
00054 {
00055   return x < 0.0 ? -1.0 : (x > 0.0 ? 1.0 : 0.0);
00056 }
00057 
00058 inline double distance(double x0, double y0, double x1, double y1)
00059 {
00060   return hypot(x1 - x0, y1 - y0);
00061 }
00062 
00063 double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1);
00064 
00065 bool intersects(std::vector<geometry_msgs::Point>& polygon, float testx, float testy);
00066 
00067 bool intersects(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2);
00068 
00069 #endif


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:06:55