geometry_help.h
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34 
35 #ifndef NAV_2D_UTILS_GEOMETRY_HELP_H
36 #define NAV_2D_UTILS_GEOMETRY_HELP_H
37 
38 #include <cmath>
39 
40 namespace nav_2d_utils
41 {
52 inline double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
53 {
54  double A = pX - x0;
55  double B = pY - y0;
56  double C = x1 - x0;
57  double D = y1 - y0;
58 
59  double dot = A * C + B * D;
60  double len_sq = C * C + D * D;
61  double param = dot / len_sq;
62 
63  double xx, yy;
64 
65  if (param < 0)
66  {
67  xx = x0;
68  yy = y0;
69  }
70  else if (param > 1)
71  {
72  xx = x1;
73  yy = y1;
74  }
75  else
76  {
77  xx = x0 + param * C;
78  yy = y0 + param * D;
79  }
80 
81  return hypot(pX - xx, pY - yy);
82 }
83 } // namespace nav_2d_utils
84 
85 #endif // NAV_2D_UTILS_GEOMETRY_HELP_H
nav_2d_utils::distanceToLine
double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
Distance from point (pX, pY) to closest point on line from (x0, y0) to (x1, y1)
Definition: geometry_help.h:52
param
bool param(const std::string &param_name, T &param_val, const T &default_val)
nav_2d_utils
A set of utility functions for Bounds objects interacting with other messages/types.
Definition: bounds.h:45
dot
TFSIMD_FORCE_INLINE tfScalar dot(const Quaternion &q1, const Quaternion &q2)

nav_2d_utils
Author(s):
autogenerated on Sun Jan 10 2021 04:08:32