00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, 2013, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 * David V. Lu!! 00037 *********************************************************************/ 00038 #ifndef _FOOTPRINT_HELPER_H 00039 #define _FOOTPRINT_HELPER_H 00040 00041 #include <ros/ros.h> 00042 #include <geometry_msgs/Polygon.h> 00043 #include <geometry_msgs/Point.h> 00044 #include <geometry_msgs/Point32.h> 00045 00046 namespace costmap_2d 00047 { 00048 00049 void calculateMinAndMaxDistances(const std::vector<geometry_msgs::Point>& footprint, double& min_dist, double& max_dist); 00050 geometry_msgs::Point toPoint (geometry_msgs::Point32 pt); 00051 geometry_msgs::Point32 toPoint32 (geometry_msgs::Point pt); 00052 geometry_msgs::Polygon toPolygon (std::vector<geometry_msgs::Point> pts); 00053 std::vector<geometry_msgs::Point> toPointVector(geometry_msgs::Polygon polygon); 00054 00055 } // end namespace costmap_2d 00056 00057 #endif