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 COSTMAP_2D_COSTMAP_MATH_H_ 00039 #define COSTMAP_2D_COSTMAP_MATH_H_ 00040 00041 #include <math.h> 00042 #include <algorithm> 00043 #include <vector> 00044 #include <geometry_msgs/Point.h> 00045 00047 inline double sign(double x) 00048 { 00049 return x < 0.0 ? -1.0 : 1.0; 00050 } 00051 00053 inline double sign0(double x) 00054 { 00055 return x < 0.0 ? -1.0 : (x > 0.0 ? 1.0 : 0.0); 00056 } 00057 00058 inline double distance(double x0, double y0, double x1, double y1) 00059 { 00060 return hypot(x1 - x0, y1 - y0); 00061 } 00062 00063 double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1); 00064 00065 bool intersects(std::vector<geometry_msgs::Point>& polygon, float testx, float testy); 00066 00067 bool intersects(std::vector<geometry_msgs::Point>& polygon1, std::vector<geometry_msgs::Point>& polygon2); 00068 00069 #endif // COSTMAP_2D_COSTMAP_MATH_H_