costmap_math.h
Go to the documentation of this file.
1 /*********************************************************************
2  *
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2008, 2013, Willow Garage, Inc.
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Willow Garage, Inc. nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *
35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
37  *********************************************************************/
38 #ifndef COSTMAP_2D_COSTMAP_MATH_H_
39 #define COSTMAP_2D_COSTMAP_MATH_H_
40 
41 #include <math.h>
42 #include <algorithm>
43 #include <vector>
44 #include <geometry_msgs/Point.h>
45 
47 inline double sign(double x)
48 {
49  return x < 0.0 ? -1.0 : 1.0;
50 }
51 
53 inline double sign0(double x)
54 {
55  return x < 0.0 ? -1.0 : (x > 0.0 ? 1.0 : 0.0);
56 }
57 
58 inline double distance(double x0, double y0, double x1, double y1)
59 {
60  return hypot(x1 - x0, y1 - y0);
61 }
62 
63 double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1);
64 
65 bool intersects(std::vector<geometry_msgs::Point>& polygon, float testx, float testy);
66 
67 bool intersects(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2);
68 
69 #endif // COSTMAP_2D_COSTMAP_MATH_H_
bool intersects(std::vector< geometry_msgs::Point > &polygon, float testx, float testy)
INLINE Rall1d< T, V, S > hypot(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
double sign(double x)
Return -1 if x < 0, +1 otherwise.
Definition: costmap_math.h:47
double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
double sign0(double x)
Same as sign(x) but returns 0 if x is 0.
Definition: costmap_math.h:53
double distance(double x0, double y0, double x1, double y1)
Definition: costmap_math.h:58


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:42