footprint.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
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#include<costmap_2d/costmap_math.h>
#include <boost/tokenizer.hpp>
#include <boost/foreach.hpp>
#include <boost/algorithm/string.hpp>
#include <costmap_2d/footprint.h>
#include<geometry_msgs/Point32.h>

namespace costmap_2d
{

void calculateMinAndMaxDistances(const std::vector<geometry_msgs::Point>& footprint, double& min_dist, double& max_dist)
{
  min_dist = std::numeric_limits<double>::max();
  max_dist = 0.0;

  if (footprint.size() <= 2)
  {
    return;
  }

  for (unsigned int i = 0; i < footprint.size() - 1; ++i)
  {
    //check the distance from the robot center point to the first vertex
    double vertex_dist = distance(0.0, 0.0, footprint[i].x, footprint[i].y);
    double edge_dist = distanceToLine(0.0, 0.0, footprint[i].x, footprint[i].y,
                                      footprint[i + 1].x, footprint[i + 1].y);
    min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist));
    max_dist = std::max(max_dist, std::max(vertex_dist, edge_dist));
  }

  //we also need to do the last vertex and the first vertex
  double vertex_dist = distance(0.0, 0.0, footprint.back().x, footprint.back().y);
  double edge_dist = distanceToLine(0.0, 0.0, footprint.back().x, footprint.back().y,
                                      footprint.front().x, footprint.front().y);
  min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist));
  max_dist = std::max(max_dist, std::max(vertex_dist, edge_dist));
}

geometry_msgs::Point32 toPoint32(geometry_msgs::Point pt)
{
  geometry_msgs::Point32 point32;
  point32.x = pt.x;
  point32.y = pt.y;
  point32.z = pt.z;
  return point32;
}

geometry_msgs::Point toPoint(geometry_msgs::Point32 pt)
{
  geometry_msgs::Point point;
  point.x = pt.x;
  point.y = pt.y;
  point.z = pt.z;
  return point;
}

geometry_msgs::Polygon toPolygon(std::vector<geometry_msgs::Point> pts)
{
  geometry_msgs::Polygon polygon;
  for(int i=0;i<pts.size();i++){
    polygon.points.push_back( toPoint32(pts[i]) );
  }
  return polygon;
}

std::vector<geometry_msgs::Point> toPointVector(geometry_msgs::Polygon polygon)
{
  std::vector<geometry_msgs::Point> pts;
  for(int i=0;i<polygon.points.size();i++)
  {
    pts.push_back( toPoint(polygon.points[i] ) );
  }
  return pts;
}

} // end namespace costmap_2d