clearpath.cpp File Reference

#include "collvoid_local_planner/clearpath.h"
#include <ros/ros.h>
#include <float.h>
#include <boost/foreach.hpp>

Include dependency graph for clearpath.cpp:

Go to the source code of this file.

Namespaces
namespace	collvoid
Functions
void	collvoid::addCircleLineIntersections (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, double max_speed, bool use_truncation, const Vector2 &point, const Vector2 &dir)
void	collvoid::addRayVelocitySamples (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, Vector2 point1, Vector2 dir1, Vector2 point2, Vector2 dir2, double max_speed, int TYPE)
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)
Vector2	collvoid::calculateNewVelocitySampled (std::vector< VelocitySample > &samples, const std::vector< VO > &truncated_vos, const Vector2 &pref_vel, double max_speed, bool use_truncation)
double	collvoid::calculateVelCosts (const Vector2 &test_vel, const std::vector< VO > &truncated_vos, const Vector2 &pref_vel, double max_speed, bool use_truncation)
bool	collvoid::compareVectorsLexigraphically (const ConvexHullPoint &v1, const ConvexHullPoint &v2)
bool	collvoid::compareVelocitySamples (const VelocitySample &p1, const VelocitySample &p2)
std::vector< ConvexHullPoint >	collvoid::convexHull (std::vector< ConvexHullPoint > P, bool sorted)
VO	collvoid::createHRVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO	collvoid::createHRVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2)
VO	collvoid::createObstacleVO (Vector2 &position1, double radius1, const std::vector< Vector2 > &footprint1, Vector2 &obst1, Vector2 &obst2)
VO	collvoid::createRVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO	collvoid::createRVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2)
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)
VO	collvoid::createTruncVO (VO &vo, double time)
VO	collvoid::createVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2)
VO	collvoid::createVO (Vector2 &position1, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2, Vector2 &vel2, int TYPE)
VO	collvoid::createVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2, Vector2 &vel2, int TYPE)
VO	collvoid::createVO (Vector2 &position1, double radius1, Vector2 &position2, double radius2, Vector2 &vel2)
double	collvoid::cross (const ConvexHullPoint &O, const ConvexHullPoint &A, const ConvexHullPoint &B)
Vector2	collvoid::intersectTwoLines (Vector2 point1, Vector2 dir1, Vector2 point2, Vector2 dir2)
Vector2	collvoid::intersectTwoLines (Line line1, Line line2)
bool	collvoid::isInsideVO (VO vo, Vector2 point, bool use_truncation)
bool	collvoid::isWithinAdditionalConstraints (const std::vector< Line > &additional_constraints, const Vector2 &point)
std::vector< Vector2 >	collvoid::minkowskiSum (const std::vector< Vector2 > polygon1, const std::vector< Vector2 > polygon2)