#include "collvoid_local_planner/Utils.h"
Go to the source code of this file.
Namespaces | |
| namespace | collvoid |
Defines | |
| #define | HRVOS 0 |
| #define | LINELINE 5 |
| #define | RAYLINE 4 |
| #define | RAYRAY 0 |
| #define | RAYSEGMENT 1 |
| #define | RVOS 1 |
| #define | SEGMENTLINE 3 |
| #define | SEGMENTSEGMENT 2 |
| #define | VOS 2 |
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::addIntersectPoint (std::vector< VelocitySample > &samples, const Vector2 &pref_vel, double max_speed, bool use_truncation, Vector2 point, const std::vector< VO > &truncated_vos) |
| 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, const std::vector< Vector2 > &footprint1, Vector2 &vel1, Vector2 &position2, const std::vector< Vector2 > &footprint2) |
| VO | collvoid::createObstacleVO (Vector2 &position1, double radius1, Vector2 &vel1, Vector2 &position2, double radius2) |
| 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) |
| #define HRVOS 0 |
Definition at line 43 of file clearpath.h.
| #define LINELINE 5 |
Definition at line 41 of file clearpath.h.
| #define RAYLINE 4 |
Definition at line 40 of file clearpath.h.
| #define RAYRAY 0 |
Definition at line 36 of file clearpath.h.
| #define RAYSEGMENT 1 |
Definition at line 37 of file clearpath.h.
| #define RVOS 1 |
Definition at line 44 of file clearpath.h.
| #define SEGMENTLINE 3 |
Definition at line 39 of file clearpath.h.
| #define SEGMENTSEGMENT 2 |
Definition at line 38 of file clearpath.h.
| #define VOS 2 |
Definition at line 45 of file clearpath.h.