costmap_math.h
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35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
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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)
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 Sun Mar 3 2019 03:44:17